Sie sind auf Seite 1von 209

u-blox 7

Receiver Description
Including Protocol Specification V14

Abstract
The Receiver Description Including Protocol Specification
describes the firmware features, specifications and configuration
for u-blox 7 high performance high performance positioning
modules.
The Receiver Description provides an overview and conceptual
details of the supported features. The Protocol Specification
details version 14 of the NMEA and UBX protocols and serves as
a reference manual.

www.u-blox.com
Document Information
Title u-blox 7 Receiver Description
Subtitle Including Protocol Specification V14
Document type Manual
Document number GPS.G7-SW-12001-B 65525, 1 Feb 2013

Document status Protocol version 14.00 (Public Release)

This document and the use of any information contained therein, is subject to the acceptance of the u-blox terms and conditions. They can
be downloaded from www.u-blox.com. u-blox makes no warranties based on the accuracy or completeness of the contents of this
document and reserves the right to make changes to specifications and product descriptions at any time without notice. u-blox reserves all
rights to this document and the information contained herein. Reproduction, use or disclosure to third parties without express permission
is strictly prohibited. Copyright © 2013, u-blox AG.

GPS.G7-SW-12001-B Public Release Page ii


Table of Contents

Receiver Description .................................................................................................................................... 1


1 Overview ............................................................................................................................................. 1
2 Navigation Configuration Settings Description................................................................................ 1
2.1 Platform settings .......................................................................................................................... 1
2.2 Navigation Input Filters ............................................................................................................... 2
2.3 Navigation Output Filters ............................................................................................................ 2
2.4 Static Hold .................................................................................................................................... 3
2.5 Freezing the Course Over Ground .............................................................................................. 3
2.6 Degraded Navigation................................................................................................................... 3
2.6.1 2D Navigation........................................................................................................................ 3
3 GNSS Configuration ............................................................................................................................ 3
3.1 GLONASS....................................................................................................................................... 4
3.2 QZSS .............................................................................................................................................. 4
4 Satellite Numbering ............................................................................................................................ 4
4.1 NMEA ............................................................................................................................................ 4
4.2 UBX ............................................................................................................................................... 5
4.3 Summary ....................................................................................................................................... 5
5 SBAS Configuration Settings Description ......................................................................................... 5
5.1 SBAS (Satellite Based Augmentation Systems)........................................................................... 5
5.2 SBAS Features ............................................................................................................................... 7
5.3 SBAS Configuration...................................................................................................................... 8
6 Clocks and Time................................................................................................................................... 8
6.1 Receiver Local Time...................................................................................................................... 8
6.2 Navigation Epochs........................................................................................................................ 9
6.3 iTOW Timestamps ...................................................................................................................... 10
6.4 UTC Representation ................................................................................................................... 10
6.5 Leap Seconds .............................................................................................................................. 10
6.6 Real Time Clock .......................................................................................................................... 11
7 Serial Communication Ports Description ......................................................................................... 11
7.1 TX-ready indication.................................................................................................................... 11
7.2 Extended TX timeout ................................................................................................................. 12
7.3 UART Ports.................................................................................................................................. 12
7.4 USB Port ...................................................................................................................................... 12
7.5 DDC Port ..................................................................................................................................... 13
7.5.1 Read Access.......................................................................................................................... 13
7.5.1.1 Random Read Access ................................................................................................... 14
7.5.1.2 Current Address Read .................................................................................................. 15
7.5.2 Write Access......................................................................................................................... 15
7.6 SPI Port........................................................................................................................................ 16
7.6.1 Maximum SPI clock speed................................................................................................... 16

GPS.G7-SW-12001-B Public Release Page iii


7.6.2 Read Access.......................................................................................................................... 16
7.6.3 Back-To-Back Read and Write Access................................................................................. 17
7.7 How to change between protocols........................................................................................... 17
8 Receiver Configuration ..................................................................................................................... 17
8.1 Configuration Concept .............................................................................................................. 17
8.2 Organization of the Configuration Sections ............................................................................ 18
8.3 Permanent Configuration Storage Media ................................................................................ 19
8.4 Receiver Default Configuration ................................................................................................ 19
9 Forcing a Receiver Reset ................................................................................................................... 19
10 Remote Inventory ........................................................................................................................... 20
10.1 Description................................................................................................................................ 20
10.2 Usage ........................................................................................................................................ 20
11 Power Management ....................................................................................................................... 20
11.1 Continuous Mode..................................................................................................................... 20
11.2 Power Save Mode..................................................................................................................... 21
11.2.1 Operation .......................................................................................................................... 21
11.2.1.1 ON/OFF operation - long update period .................................................................. 22
11.2.1.2 Cyclic tracking operation - short update period ...................................................... 23
11.2.1.3 User controlled operation - update and search period of zero .............................. 23
11.2.1.4 Satellite data download ............................................................................................ 23
11.2.2 Configuration .................................................................................................................... 24
11.2.2.1 Mode of operation .................................................................................................... 24
11.2.2.2 Update and search period ......................................................................................... 24
11.2.2.3 Acquisition timeout ................................................................................................... 25
11.2.2.4 On time and wait for timefix .................................................................................... 25
11.2.2.5 Do not enter 'inactive for search' state when no fix ............................................... 25
11.2.2.6 Update RTC and Ephemeris ....................................................................................... 25
11.2.2.7 EXTINT pin control ..................................................................................................... 25
11.2.2.8 Grid offset .................................................................................................................. 25
11.2.3 Features ............................................................................................................................. 26
11.2.3.1 Communication .......................................................................................................... 26
11.2.3.2 Wake-up ..................................................................................................................... 26
11.2.3.3 Behavior while USB host connected ......................................................................... 26
11.2.3.4 Cooperation with the AssistNow Autonomous feature .......................................... 26
11.2.4 Examples ............................................................................................................................ 27
11.2.4.1 Use Grid Offset ........................................................................................................... 27
11.2.4.2 Use update periods of zero ....................................................................................... 27
11.3 Peak current settings ............................................................................................................... 27
11.4 Power On/Off command.......................................................................................................... 27
11.5 EXTINT pin control when Power Save Mode is not active ..................................................... 27
11.6 Measurement and navigation rate with Power Save Mode.................................................. 27
12 Time pulse ....................................................................................................................................... 28
12.1 Introduction.............................................................................................................................. 28
12.2 Recommendations.................................................................................................................... 28
GPS.G7-SW-12001-B Public Release Page iv
12.3 Time pulse configuration......................................................................................................... 29
12.4 Configuring time pulse with UBX-CFG-TP5 ............................................................................ 29
12.4.1 Example 1: ......................................................................................................................... 30
12.4.2 Example 2: ......................................................................................................................... 31
13 Receiver Status Monitoring............................................................................................................ 32
13.1 Input/Output system ................................................................................................................ 32
13.2 Jamming/Interference Indicator.............................................................................................. 33
13.3 Jamming/Interference Monitor (ITFM) ................................................................................... 33
14 Timemark ......................................................................................................................................... 34
15 Aiding and Acquisition ................................................................................................................... 35
15.1 Introduction.............................................................................................................................. 35
15.2 Startup Strategies..................................................................................................................... 35
15.3 Aiding / Assisted GPS (A-GPS) .................................................................................................. 36
15.4 Aiding Data .............................................................................................................................. 36
15.5 Aiding Sequence ...................................................................................................................... 36
15.6 AssistNow Online ..................................................................................................................... 37
15.7 AssistNow Offline..................................................................................................................... 37
15.7.1 Flash-based AlmanacPlus Overview ................................................................................. 38
15.7.1.1 Download Procedure ................................................................................................. 38
15.7.2 Host-based AlmanacPlus Overview .................................................................................. 39
15.7.3 Message specifics............................................................................................................... 40
15.7.3.1 Range checks .............................................................................................................. 40
15.7.3.2 Changing ALP files ..................................................................................................... 40
15.7.3.3 Sample Code............................................................................................................... 40
15.8 AssistNow Autonomous........................................................................................................... 40
15.8.1 Introduction....................................................................................................................... 40
15.8.2 Concept.............................................................................................................................. 41
15.8.3 Interface............................................................................................................................. 42
15.8.4 Benefits and Drawbacks ................................................................................................... 42
16 Precise Point Positioning ................................................................................................................ 43
16.1 Introduction.............................................................................................................................. 43
16.2 Configuration ........................................................................................................................... 44
16.3 Monitoring ............................................................................................................................... 44
17 Logging ............................................................................................................................................ 44
17.1 Introduction.............................................................................................................................. 44
17.2 Setting the logging system up ................................................................................................ 44
17.3 Information about the log ...................................................................................................... 45
17.4 Recording.................................................................................................................................. 45
17.5 Retrieval.................................................................................................................................... 46
17.6 Command message acknowledgement .................................................................................. 47
NMEA Protocol ........................................................................................................................................... 48
18 Protocol Overview .......................................................................................................................... 48
19 NMEA Protocol Configuration........................................................................................................ 48
20 Latitude and Longitude Format ..................................................................................................... 49
GPS.G7-SW-12001-B Public Release Page v
21 Position Fix Flags in NMEA ............................................................................................................. 50
22 Ouput of invalid/unknown data.................................................................................................... 50
23 NMEA Messages Overview ............................................................................................................ 51
24 Standard Messages ......................................................................................................................... 52
24.1 DTM........................................................................................................................................... 52
24.1.1 Datum Reference .............................................................................................................. 52
24.2 GBS ............................................................................................................................................ 53
24.2.1 GNSS Satellite Fault Detection ......................................................................................... 53
24.3 GGA........................................................................................................................................... 54
24.3.1 Global positioning system fix data................................................................................... 54
24.4 GLL ............................................................................................................................................ 55
24.4.1 Latitude and longitude, with time of position fix and status ........................................ 55
24.5 GLQ ........................................................................................................................................... 56
24.5.1 Poll a standard message (if the current Talker ID is GL) ................................................. 56
24.6 GNQ........................................................................................................................................... 56
24.6.1 Poll a standard message (if the current Talker ID is GN) ................................................ 56
24.7 GNS............................................................................................................................................ 57
24.7.1 GNSS fix data ..................................................................................................................... 57
24.8 GPQ ........................................................................................................................................... 58
24.8.1 Poll a standard message (if the current Talker ID is GP)................................................. 58
24.9 GRS ............................................................................................................................................ 58
24.9.1 GNSS Range Residuals....................................................................................................... 58
24.10 GSA.......................................................................................................................................... 59
24.10.1 GNSS DOP and Active Satellites...................................................................................... 59
24.11 GST .......................................................................................................................................... 60
24.11.1 GNSS Pseudo Range Error Statistics ............................................................................... 60
24.12 GSV.......................................................................................................................................... 61
24.12.1 GNSS Satellites in View ................................................................................................... 61
24.13 RMC......................................................................................................................................... 62
24.13.1 Recommended Minimum data....................................................................................... 62
24.14 TXT .......................................................................................................................................... 63
24.14.1 Text Transmission ............................................................................................................ 63
24.15 VTG.......................................................................................................................................... 64
24.15.1 Course over ground and Ground speed ........................................................................ 64
24.16 ZDA ......................................................................................................................................... 65
24.16.1 Time and Date ................................................................................................................. 65
25 PUBX Messages ............................................................................................................................... 66
25.1 CONFIG (PUBX,41) .................................................................................................................... 66
25.1.1 Set Protocols and Baudrate .............................................................................................. 66
25.2 POSITION (PUBX,00) ................................................................................................................. 67
25.2.1 Poll a PUBX,00 message .................................................................................................... 67
25.2.2 Lat/Long Position Data...................................................................................................... 67
25.3 RATE (PUBX,40) ........................................................................................................................ 69
25.3.1 Set NMEA message output rate ....................................................................................... 69
GPS.G7-SW-12001-B Public Release Page vi
25.4 SVSTATUS (PUBX,03) ................................................................................................................ 70
25.4.1 Poll a PUBX,03 message .................................................................................................... 70
25.4.2 Satellite Status................................................................................................................... 70
25.5 TIME (PUBX,04)......................................................................................................................... 71
25.5.1 Poll a PUBX,04 message .................................................................................................... 71
25.5.2 Time of Day and Clock Information................................................................................. 72
UBX Protocol............................................................................................................................................... 73
26 UBX Protocol Key Features............................................................................................................. 73
27 UBX Packet Structure ...................................................................................................................... 73
28 UBX Payload Definition Rules ........................................................................................................ 73
28.1 Structure Packing ..................................................................................................................... 73
28.2 Message Naming ...................................................................................................................... 73
28.3 Number Formats....................................................................................................................... 74
29 UBX Checksum................................................................................................................................. 74
30 UBX Message Flow.......................................................................................................................... 75
30.1 Acknowledgement................................................................................................................... 75
30.2 Polling Mechanism ................................................................................................................... 75
31 UBX Class IDs ................................................................................................................................... 75
32 UBX Messages Overview................................................................................................................ 76
33 ACK (0x05) ....................................................................................................................................... 80
33.1 ACK-ACK (0x05 0x01) ............................................................................................................... 80
33.1.1 Message Acknowledged ................................................................................................... 80
33.2 ACK-NAK (0x05 0x00)............................................................................................................... 80
33.2.1 Message Not-Acknowledged............................................................................................ 80
34 AID (0x0B) ........................................................................................................................................ 81
34.1 AID-ALM (0x0B 0x30) ............................................................................................................... 81
34.1.1 Poll GPS Aiding Almanac Data ......................................................................................... 81
34.1.2 Poll GPS Aiding Almanac Data for a SV ........................................................................... 81
34.1.3 GPS Aiding Almanac Input/Output Message................................................................... 82
34.2 AID-ALPSRV (0x0B 0x32) .......................................................................................................... 82
34.2.1 ALP client requests AlmanacPlus data from server ......................................................... 82
34.2.2 ALP server sends AlmanacPlus data to client .................................................................. 83
34.2.3 ALP client sends AlmanacPlus data to server. ................................................................. 84
34.3 AID-ALP (0x0B 0x50)................................................................................................................. 84
34.3.1 ALP file data transfer to the receiver............................................................................... 84
34.3.2 Mark end of data transfer ................................................................................................ 85
34.3.3 Acknowledges a data transfer ......................................................................................... 85
34.3.4 Indicate problems with a data transfer ........................................................................... 86
34.3.5 Poll the AlmanacPlus status.............................................................................................. 86
34.4 AID-AOP (0x0B 0x33)................................................................................................................ 87
34.4.1 Poll AssistNow Autonomous data .................................................................................... 87
34.4.2 Poll AssistNow Autonomous data for one satellite ........................................................ 87
34.4.3 AssistNow Autonomous data ........................................................................................... 88
34.5 AID-DATA (0x0B 0x10) ............................................................................................................. 88
GPS.G7-SW-12001-B Public Release Page vii
34.5.1 Polls all GPS Initial Aiding Data........................................................................................ 88
34.6 AID-EPH (0x0B 0x31) ................................................................................................................ 89
34.6.1 Poll GPS Aiding Ephemeris Data ...................................................................................... 89
34.6.2 Poll GPS Aiding Ephemeris Data for a SV ........................................................................ 89
34.6.3 GPS Aiding Ephemeris Input/Output Message ................................................................ 89
34.7 AID-HUI (0x0B 0x02)................................................................................................................. 90
34.7.1 Poll GPS Health, UTC and ionosphere parameters.......................................................... 90
34.7.2 GPS Health, UTC and ionosphere parameters ................................................................. 91
34.8 AID-INI (0x0B 0x01) .................................................................................................................. 92
34.8.1 Poll GPS Initial Aiding Data .............................................................................................. 92
34.8.2 Aiding position, time, frequency, clock drift................................................................... 92
34.9 AID-REQ (0x0B 0x00) ................................................................................................................ 94
34.9.1 Sends a poll (AID-DATA) for all GPS Aiding Data ........................................................... 94
35 CFG (0x06)........................................................................................................................................ 95
35.1 CFG-ANT (0x06 0x13)................................................................................................................ 95
35.1.1 Poll Antenna Control Settings.......................................................................................... 95
35.1.2 Antenna Control Settings ................................................................................................. 95
35.2 CFG-CFG (0x06 0x09) ................................................................................................................ 96
35.2.1 Clear, Save and Load configurations ............................................................................... 96
35.3 CFG-DAT (0x06 0x06)................................................................................................................ 98
35.3.1 Poll Datum Setting ............................................................................................................ 98
35.3.2 Set User-defined Datum ................................................................................................... 98
35.3.3 The currently defined Datum ........................................................................................... 99
35.4 CFG-GNSS (0x06 0x3E) ............................................................................................................ 100
35.4.1 Polls the configuration of the GNSS system configuration .......................................... 100
35.4.2 GNSS system configuration............................................................................................. 100
35.5 CFG-INF (0x06 0x02) ............................................................................................................... 101
35.5.1 Poll INF message configuration for one protocol ......................................................... 101
35.5.2 Information message configuration .............................................................................. 102
35.6 CFG-ITFM (0x06 0x39)............................................................................................................. 103
35.6.1 Polls the Jamming/Interference Monitor configuration............................................... 103
35.6.2 Jamming/Interference Monitor configuration. ............................................................. 103
35.7 CFG-LOGFILTER (0x06 0x47)................................................................................................... 104
35.7.1 Poll Data Logger filter Configuration............................................................................ 104
35.7.2 Data Logger Configuration ............................................................................................ 104
35.8 CFG-MSG (0x06 0x01) ............................................................................................................. 106
35.8.1 Poll a message configuration ......................................................................................... 106
35.8.2 Set Message Rate(s)......................................................................................................... 106
35.8.3 Set Message Rate ............................................................................................................ 107
35.9 CFG-NAV5 (0x06 0x24) ........................................................................................................... 107
35.9.1 Poll Navigation Engine Settings ..................................................................................... 107
35.9.2 Navigation Engine Settings ............................................................................................ 107
35.10 CFG-NAVX5 (0x06 0x23)....................................................................................................... 109
35.10.1 Poll Navigation Engine Expert Settings ....................................................................... 109
GPS.G7-SW-12001-B Public Release Page viii
35.10.2 Navigation Engine Expert Settings .............................................................................. 109
35.11 CFG-NMEA (0x06 0x17) ........................................................................................................ 111
35.11.1 Poll the NMEA protocol configuration ........................................................................ 111
35.11.2 NMEA protocol configuration (deprecated) ............................................................... 111
35.11.3 NMEA protocol configuration...................................................................................... 113
35.12 CFG-NVS (0x06 0x22) ............................................................................................................ 115
35.12.1 Clear, Save and Load non-volatile storage data ......................................................... 115
35.13 CFG-PM2 (0x06 0x3B) ........................................................................................................... 116
35.13.1 Poll extended Power Management configuration ..................................................... 116
35.13.2 Extended Power Management configuration............................................................. 116
35.14 CFG-PRT (0x06 0x00)............................................................................................................. 118
35.14.1 Polls the configuration of the used I/O Port................................................................ 118
35.14.2 Polls the configuration for one I/O Port ...................................................................... 118
35.14.3 Port Configuration for UART........................................................................................ 119
35.14.4 Port Configuration for USB Port .................................................................................. 122
35.14.5 Port Configuration for SPI Port .................................................................................... 123
35.14.6 Port Configuration for DDC Port.................................................................................. 126
35.15 CFG-RATE (0x06 0x08) .......................................................................................................... 128
35.15.1 Poll Navigation/Measurement Rate Settings............................................................... 128
35.15.2 Navigation/Measurement Rate Settings ...................................................................... 129
35.16 CFG-RINV (0x06 0x34)........................................................................................................... 129
35.16.1 Poll contents of Remote Inventory .............................................................................. 129
35.16.2 Contents of Remote Inventory ..................................................................................... 130
35.17 CFG-RST (0x06 0x04)............................................................................................................. 130
35.17.1 Reset Receiver / Clear Backup Data Structures ............................................................ 130
35.18 CFG-RXM (0x06 0x11)........................................................................................................... 132
35.18.1 Poll RXM configuration ................................................................................................ 132
35.18.2 RXM configuration........................................................................................................ 132
35.19 CFG-SBAS (0x06 0x16) .......................................................................................................... 133
35.19.1 Poll contents of SBAS Configuration ........................................................................... 133
35.19.2 SBAS Configuration....................................................................................................... 133
35.20 CFG-TP5 (0x06 0x31)............................................................................................................. 135
35.20.1 Poll Time Pulse Parameters........................................................................................... 135
35.20.2 Poll Time Pulse Parameters........................................................................................... 135
35.20.3 Time Pulse Parameters .................................................................................................. 135
35.21 CFG-USB (0x06 0x1B) ............................................................................................................ 137
35.21.1 Poll a USB configuration............................................................................................... 137
35.21.2 USB Configuration ........................................................................................................ 137
36 INF (0x04) ....................................................................................................................................... 139
36.1 INF-DEBUG (0x04 0x04) .......................................................................................................... 139
36.1.1 ASCII String output, indicating debug output .............................................................. 139
36.2 INF-ERROR (0x04 0x00)........................................................................................................... 139
36.2.1 ASCII String output, indicating an error ........................................................................ 139
36.3 INF-NOTICE (0x04 0x02) ......................................................................................................... 140
GPS.G7-SW-12001-B Public Release Page ix
36.3.1 ASCII String output, with informational contents ........................................................ 140
36.4 INF-TEST (0x04 0x03) .............................................................................................................. 140
36.4.1 ASCII String output, indicating test output................................................................... 140
36.5 INF-WARNING (0x04 0x01)..................................................................................................... 141
36.5.1 ASCII String output, indicating a warning..................................................................... 141
37 LOG (0x21) ..................................................................................................................................... 142
37.1 LOG-CREATE (0x21 0x07) ....................................................................................................... 142
37.1.1 Create Log File................................................................................................................. 142
37.2 LOG-ERASE (0x21 0x03).......................................................................................................... 143
37.2.1 Erase Logged Data .......................................................................................................... 143
37.3 LOG-FINDTIME (0x21 0x0E).................................................................................................... 143
37.3.1 Finds the index of the first log entry <= given time ..................................................... 143
37.3.2 This message is the response to FINDTIME request. ..................................................... 144
37.4 LOG-INFO (0x21 0x08) ............................................................................................................ 144
37.4.1 Poll for log information.................................................................................................. 144
37.4.2 Log information .............................................................................................................. 144
37.5 LOG-RETRIEVEPOS (0x21 0x0b).............................................................................................. 146
37.5.1 Position fix log entry....................................................................................................... 146
37.6 LOG-RETRIEVESTRING (0x21 0x0d) ........................................................................................ 147
37.6.1 Byte string log entry ....................................................................................................... 147
37.7 LOG-RETRIEVE (0x21 0x09) .................................................................................................... 147
37.7.1 Request log data ............................................................................................................. 147
37.8 LOG-STRING (0x21 0x04) ........................................................................................................ 148
37.8.1 Store arbitrary string in on-board Flash memory.......................................................... 148
38 MON (0x0A) ................................................................................................................................... 149
38.1 MON-HW2 (0x0A 0x0B).......................................................................................................... 149
38.1.1 Extended Hardware Status ............................................................................................. 149
38.2 MON-HW (0x0A 0x09)............................................................................................................ 150
38.2.1 Hardware Status.............................................................................................................. 150
38.3 MON-IO (0x0A 0x02) .............................................................................................................. 151
38.3.1 I/O Subsystem Status ....................................................................................................... 151
38.4 MON-MSGPP (0x0A 0x06) ...................................................................................................... 152
38.4.1 Message Parse and Process Status.................................................................................. 152
38.5 MON-RXBUF (0x0A 0x07)....................................................................................................... 152
38.5.1 Receiver Buffer Status..................................................................................................... 152
38.6 MON-RXR (0x0A 0x21) ........................................................................................................... 153
38.6.1 Receiver Status Information ........................................................................................... 153
38.7 MON-TXBUF (0x0A 0x08) ....................................................................................................... 153
38.7.1 Transmitter Buffer Status ............................................................................................... 153
38.8 MON-VER (0x0A 0x04) ........................................................................................................... 154
38.8.1 Poll Receiver/Software Version....................................................................................... 154
38.8.2 Receiver/Software Version.............................................................................................. 155
39 NAV (0x01)..................................................................................................................................... 156
39.1 NAV-AOPSTATUS (0x01 0x60)................................................................................................ 156
GPS.G7-SW-12001-B Public Release Page x
39.1.1 AssistNow Autonomous Status....................................................................................... 156
39.2 NAV-CLOCK (0x01 0x22) ........................................................................................................ 157
39.2.1 Clock Solution.................................................................................................................. 157
39.3 NAV-DGPS (0x01 0x31)........................................................................................................... 157
39.3.1 DGPS Data Used for NAV................................................................................................ 157
39.4 NAV-DOP (0x01 0x04) ............................................................................................................ 158
39.4.1 Dilution of precision ....................................................................................................... 158
39.5 NAV-POSECEF (0x01 0x01) ..................................................................................................... 159
39.5.1 Position Solution in ECEF ................................................................................................ 159
39.6 NAV-POSLLH (0x01 0x02) ....................................................................................................... 159
39.6.1 Geodetic Position Solution ............................................................................................. 159
39.7 NAV-PVT (0x01 0x07) ............................................................................................................. 160
39.7.1 Navigation Position Velocity Time Solution .................................................................. 160
39.8 NAV-SBAS (0x01 0x32) ........................................................................................................... 162
39.8.1 SBAS Status Data ............................................................................................................. 162
39.9 NAV-SOL (0x01 0x06) ............................................................................................................. 163
39.9.1 Navigation Solution Information ................................................................................... 163
39.10 NAV-STATUS (0x01 0x03) ..................................................................................................... 165
39.10.1 Receiver Navigation Status ........................................................................................... 165
39.11 NAV-SVINFO (0x01 0x30) ..................................................................................................... 167
39.11.1 Space Vehicle Information............................................................................................ 167
39.12 NAV-TIMEGPS (0x01 0x20) ................................................................................................... 169
39.12.1 GPS Time Solution ......................................................................................................... 169
39.13 NAV-TIMEUTC (0x01 0x21)................................................................................................... 170
39.13.1 UTC Time Solution......................................................................................................... 170
39.14 NAV-VELECEF (0x01 0x11).................................................................................................... 171
39.14.1 Velocity Solution in ECEF .............................................................................................. 171
39.15 NAV-VELNED (0x01 0x12) .................................................................................................... 171
39.15.1 Velocity Solution in NED............................................................................................... 171
40 RXM (0x02) .................................................................................................................................... 173
40.1 RXM-ALM (0x02 0x30)............................................................................................................ 173
40.1.1 Poll GPS Constellation Almanac Data ............................................................................ 173
40.1.2 Poll GPS Constellation Almanac Data for a SV .............................................................. 173
40.1.3 GPS Aiding Almanac Input/Output Message................................................................. 174
40.2 RXM-EPH (0x02 0x31)............................................................................................................. 174
40.2.1 Poll GPS Constellation Ephemeris Data ......................................................................... 174
40.2.2 Poll GPS Constellation Ephemeris Data for a SV ........................................................... 175
40.2.3 GPS Aiding Ephemeris Input/Output Message .............................................................. 175
40.3 RXM-PMREQ (0x02 0x41) ....................................................................................................... 176
40.3.1 Requests a Power Management task............................................................................. 176
40.4 RXM-RAW (0x02 0x10) ........................................................................................................... 176
40.4.1 Raw Measurement Data ................................................................................................. 176
40.5 RXM-SFRB (0x02 0x11) ........................................................................................................... 177
40.5.1 Subframe Buffer.............................................................................................................. 177
GPS.G7-SW-12001-B Public Release Page xi
40.6 RXM-SVSI (0x02 0x20) ............................................................................................................ 178
40.6.1 SV Status Info .................................................................................................................. 178
41 TIM (0x0D) ..................................................................................................................................... 180
41.1 TIM-TM2 (0x0D 0x03) ............................................................................................................. 180
41.1.1 Time mark data ............................................................................................................... 180
41.2 TIM-TP (0x0D 0x01) ................................................................................................................ 181
41.2.1 Time Pulse Timedata ....................................................................................................... 181
41.3 TIM-VRFY (0x0D 0x06)............................................................................................................ 182
41.3.1 Sourced Time Verification .............................................................................................. 182
RTCM Protocol .......................................................................................................................................... 184
42 Introduction................................................................................................................................... 184
43 Supported Messages..................................................................................................................... 184
44 Configuration ................................................................................................................................ 184
45 Output ........................................................................................................................................... 184
46 Restrictions .................................................................................................................................... 185
47 Reference ....................................................................................................................................... 185
Appendix .................................................................................................................................................. 186
A Protocol Versions............................................................................................................................ 186
A.1 Supported Protocol Versions .................................................................................................. 186
B u-blox 7 Default Settings ............................................................................................................... 186
B.1 Antenna Supervisor Settings (UBX-CFG-ANT) ........................................................................ 187
B.2 Datum Settings (UBX-CFG-DAT).............................................................................................. 187
B.3 Navigation Settings (UBX-CFG-NAV5) .................................................................................... 187
B.4 Navigation Settings (UBX-CFG-NAVX5) .................................................................................. 188
B.5 Output Rates (UBX-CFG-RATE)................................................................................................ 188
B.6 Power Management 2 Configuration (UBX-CFG-PM2).......................................................... 188
B.7 Receiver Manager Configuration (UBX-CFG-RXM) ................................................................ 189
B.8 GNSS system configuration (UBX-CFG-GNSS) ......................................................................... 189
B.9 SBAS Configuration (UBX-CFG-SBAS) ..................................................................................... 189
B.10 Port Configuration (UBX-CFG-PRT) ....................................................................................... 190
B.10.1 UART Port Configuration ............................................................................................... 190
B.10.2 USB Port Configuration .................................................................................................. 190
B.10.3 SPI Port Configuration .................................................................................................... 190
B.10.4 DDC Port Configuration ................................................................................................. 191
B.11 USB Settings (UBX-CFG-USB) ................................................................................................. 191
B.12 Message Settings (UBX-CFG-MSG) ........................................................................................ 191
B.13 NMEA Protocol Settings (UBX-CFG-NMEA) .......................................................................... 191
B.14 Logging Configuration (UBX-CFG-LOGFILTER) .................................................................... 192
B.15 Remote Inventory (UBX-CFG-RINV)....................................................................................... 192
B.16 INF Messages Settings (UBX-CFG-INF)................................................................................... 192
B.17 Timepulse Settings (UBX-CFG-TP5) ....................................................................................... 193
B.18 Jammer/Interference Monitor (UBX-CFG-ITFM) ................................................................... 194
C u-blox 7 Standard firmware versions............................................................................................ 194
Related Documents .................................................................................................................................. 195
GPS.G7-SW-12001-B Public Release Page xii
Overview .............................................................................................................................................. 195
Contact...................................................................................................................................................... 196
u-blox Offices ....................................................................................................................................... 196

GPS.G7-SW-12001-B Public Release Page xiii


Receiver Description
1 Overview
The Receiver Description Including Protocol Specification is an important resource for integrating and
configuring u-blox positioning chips and modules. This document has a modular structure and it is not
necessary to read it from the beginning to the end. There are 2 main sections: The Receiver Description and the
Protocol Specification.
The Receiver Description describes the software aspects of system features and configuration of u-blox
positioning technology. The Receiver Description is structured according to areas of functionality, with links
provided to the corresponding NMEA and UBX messages, which are described in the Protocol Specification.
The Protocol Specification is a reference describing the software messages used by your u-blox GNSS (Global
Navigation Satellite System: e.g. GPS, GLONASS, QZSS) receiver and is organized by the specific NMEA and UBX
messages.
This document provides general information on u-blox GNSS receivers. Some information might not
apply to certain products. Refer to the product Data Sheet and/or Hardware Integration Manual for
possible restrictions or limitations.

2 Navigation Configuration Settings Description


This section relates to the configuration message UBX-CFG-NAV5.

2.1 Platform settings


u-blox positioning technology supports different dynamic platform models (see table below) to adjust the
navigation engine to the expected application environment. These platform settings can be changed
dynamically without performing a power cycle or reset. The settings improve the receiver's interpretation of the
measurements and thus provide a more accurate position output. Setting the receiver to an unsuitable platform
model for the given application environment is likely to result in a loss of receiver performance and position
accuracy.
Dynamic Platform Models
Platform Description
Portable Applications with low acceleration, e.g. portable devices. Suitable for most situations.
Stationary Used in timing applications (antenna must be stationary) or other stationary applications.
Velocity restricted to 0 m/s. Zero dynamics assumed.
Pedestrian Applications with low acceleration and speed, e.g. how a pedestrian would move. Low
acceleration assumed.
Automotive Used for applications with equivalent dynamics to those of a passenger car. Low vertical
acceleration assumed.
At sea Recommended for applications at sea, with zero vertical velocity. Zero vertical velocity
assumed. Sea level assumed.
Airborne <1g Used for applications with a higher dynamic range and vertical acceleration than a
passenger car. No 2D position fixes supported.
Airborne <2g Recommended for typical airborne environment. No 2D position fixes supported.
Airborne <4g Only recommended for extremely dynamic environments. No 2D position fixes supported.

GPS.G7-SW-12001-B Public Release Page 1 of 196


Dynamic Platform Model Details
Platform Max Altitude MAX Horizontal MAX Vertical Sanity check type Max Position Deviation
[m] Velocity [m/s] Velocity [m/s]
Portable 12000 310 50 Altitude and Velocity Medium
Stationary 9000 10 6 Altitude and Velocity Small
Pedestrian 9000 30 20 Altitude and Velocity Small
Automotive 6000 84 15 Altitude and Velocity Medium
At sea 500 25 5 Altitude and Velocity Medium
Airborne <1g 50000 100 100 Altitude Large
Airborne <2g 50000 250 100 Altitude Large
Airborne <4g 50000 500 100 Altitude Large

Dynamic platforms designed for high acceleration systems (e.g. airborne <2g) can result in a higher
standard deviation in the reported position.

2.2 Navigation Input Filters


The navigation input filters in CFG-NAV5 mask the input data of the navigation engine.
These settings are already optimized. Do not change any parameters unless advised by u-blox
support engineers.
Navigation Input Filter parameters
Parameter Description
fixMode By default, the receiver calculates a 3D position fix if possible but reverts to 2D position if
necessary (Auto 2D/3D). The receiver can be forced to only calculate 2D (2D only) or 3D (
3D only) positions.
fixedAlt and The fixed altitude is used if fixMode is set to 2D only. A variance greater than zero must
fixedAltVar also be supplied.
minElev Minimum elevation of a satellite above the horizon in order to be used in the navigation
solution. Low elevation satellites may provide degraded accuracy, due to the long signal
path through the atmosphere.
cnoThreshNumSVs A navigation solution will only be attempted if there are at least the given number of SVs
and cnoThresh with signals at least as strong as the given threshold.

See also comments in section Degraded Navigation below.

2.3 Navigation Output Filters


The result of a navigation solution is initially classified by the fix type (as detailed in the fixType field of
UBX-NAV-PVT message). This distinguishes between failures to obtain a fix at all ("No Fix") and cases where a
fix has been achieved, which are further subdivided into specific types of fixes (e.g. 2D, 3D, dead reckoning).
Where a fix has been achieved, a check is made to determine whether the fix should be classified as valid or
not. A fix is only valid if it passes the navigation output filters as defined in UBX-CFG-NAV5. In particular, both
PDOP and accuracy values must lie below the respective limits.
Valid fixes are marked using the valid flag in certain NMEA messages (see Position Fix Flags in NMEA)
and the gnssFixOK flag in UBX-NAV-PVT message.
Important: Users are recommended to check the gnssFixOK flag in the UBX-NAV-PVT or the
NMEA valid flag. Fixes not marked valid should not normally be used.
The UBX-NAV-SOL and UBX-NAV-STATUS messages also report whether a fix is valid in their
gpsFixOK and GPSfixOk flags. These messages have only been retained for backwards compatibility

GPS.G7-SW-12001-B Public Release Page 2 of 196


and users are recommended to use the UBX-NAV-PVT message in preference.
The UBX-CFG-NAV5 message also defines TDOP and time accuracy values that are used in order to establish
whether a fix is regarded as locked to GNSS or not and, as a consequence of this, which time pulse setting has
to be used. Fixes that do not meet both criteria will be regarded as unlocked to GNSS and the corresponding
time pulse settings of UBX-CFG-TP5 will be used to generate a time pulse.

2.4 Static Hold


Static Hold Mode allows the navigation algorithms to decrease the noise in the position output when the
velocity is below a pre-defined ‘Static Hold Threshold’. This reduces the position wander caused by
environmental factors such as multi-path and improves position accuracy especially in stationary applications.
By default, static hold mode is disabled.
If the speed drops below the defined ‘Static Hold Threshold’, the Static Hold Mode will be activated. Once
Static Hold Mode has been entered, the position output is kept static and the velocity is set to zero until there is
evidence of movement again. Such evidence can be velocity, acceleration, changes of the valid flag (e.g.
position accuracy estimate exceeding the Position Accuracy Mask, see also section Navigation Output Filters),
position displacement, etc.

2.5 Freezing the Course Over Ground


The receiver derives the course over ground from the GNSS velocity information. If the velocity cannot be
calculated with sufficient accuracy (e.g., with bad signals) or if the absolute speed value is very low (under 0.
1m/s) then the course over ground value becomes inaccurate too. In this case the course over ground value is
frozen, i.e. the previous value is kept and its accuracy is degraded over time. These frozen values will not be
output in the NMEA messages NMEA-RMC and NMEA-VTG unless the NMEA protocol is explicitely configured
to do so (see NMEA Protocol Configuration).

2.6 Degraded Navigation


Degraded navigation describes all navigation modes which use less than 4 Satellite Vehicles (SVs).

2.6.1 2D Navigation
If the receiver only has 3 SVs for calculating a position, the navigation algorithm uses a constant altitude to
compensate for the missing fourth SV. When an SV is lost after a successful 3D fix (min. 4 SVs available), the
altitude is kept constant at the last known value. This is called a 2D fix.
u-blox positioning technology does not calculate any solution with less than 3 SVs. Only u-blox
timing receivers can, when stationary, calculate a timing solution with only 1 SV.

3 GNSS Configuration
The latest products from u-blox are multi-GNSS receivers capable of receiving and processing signals from
multiple Global Navigation Satellite Systems (GNSS).
u-blox multi-GNSS receivers can acquire and track satellites from multiple GNSS systems and utilize them in
positioning. u-blox multi-GNSS receivers can be configured to process either:
• GPS, SBAS (e.g. WAAS, EGNOS, MSAS) and QZSS L1 signals, centred on 1575.42MHz L1 frequency
• GLONASS L1 signals, centred on 1602.00MHz L1 frequency
Use the UBX-CFG-GNSS message to configure the u-blox receiver into the required mode of operation. This
message allows the user to specify which GNSS signals should be processed along with limits on how many
tracking channels should be allocated to each GNSS. The receiver will respond to such a request with a
UBX-ACK-ACK message if it can support the requested configuration or a UBX-ACK-NAK message if not.
GPS.G7-SW-12001-B Public Release Page 3 of 196
For maximum GPS coldstart sensitivity, ensure that the SBAS subsystem is enabled.

3.1 GLONASS
GLONASS is a GNSS operated by Russia. It has a number of significant differences when compared to GPS. In
most cases u-blox receivers operate in a very similar manner when they are configured to use GLONASS signals
instead of GPS. However some aspects of receiver output are likely to be noticeably affected:
• NMEA messages will change to use the GLONASS talker identifier GL (see section NMEA Protocol
Configuration).
• UBX messages will report different satellite identity numbers (see section Satellite Numbering).
• Positioning accuracy with GLONASS only satellites may be worse than with only GPS satellites. This is
because of reduced availability; the GLONASS constellation has less satellites (at the time of writing,
nominally 24 for GLONASS instead of 32 for GPS). Additionally, GLONASS signals have a lower chipping rate
which reduces accuracy.
• The identity of GLONASS satellites is determined by decoding specific parts of their data transmission.
Therefore newly acquired GLONASS signals may be reported as coming from an "unknown" satellite until
they are identified. From then on, satellites are reported using the correct satellite identity.
• As GLONASS uses a time base aligned directly to UTC, GLONASS receivers are affected by leap seconds,
when the UTC time base is occasionally re-calibrated. As a consequence, users should be prepared for the
receiver to restart itself if GLONASS signals are being tracked when a leap second occurs.
GPS receivers are unaffected by leap second changes as their time base (GPS time) is independent
of leap seconds. GPS satellites periodically transmit information that allows the receiver to calculate
UTC.

3.2 QZSS
QZSS is a GNSS operated by Japan Aerospace Exploration Agency (JAXA). It is intended as an enhancement to
GPS which increases availability and positional accuracy. This can be achieved by the QZSS system transmitting
GPS-compatible signals in the GPS bands.
NMEA messages will show the QZSS satellites only if configured accordingly (see section Satellite Numbering).

4 Satellite Numbering

4.1 NMEA
The NMEA protocol (V2.3) identifies satellites with a two digit number, reserving the numbers 1 to 32 for GPS,
33-64 for SBAS and 65-96 for GLONASS. So, for example, GLONASS SV4 is reported using number 68. u-blox
receivers support this method in their NMEA output when "strict" SV numbering is selected. In most cases this
is the default setting, but can be checked or set using UBX-CFG-NMEA.
Unfortunately there is currently no standard way of identifying satellites from any other GNSS within the NMEA
protocol. In order to support QZSS within current receivers and prepare for support of other systems (e.g.
Galileo) in future receivers, an "extended" SV numbering scheme can be enabled (using UBX-CFG-NMEA). This
uses the NMEA-defined numbers where possible, but adds other number ranges to support other GNSS. Note
however that these non-standard extensions require 3 digit numbers, which may not be supported by some
NMEA parsing software. For example QZSS satellites are reported using numbers in the range 193 to 197.
GLONASS satellites can be tracked before they have been identified. In NMEA output, such
unknown satellite numbers are always reported as a null field (i.e. an empty string).

GPS.G7-SW-12001-B Public Release Page 4 of 196


4.2 UBX
UBX protocol messages use two different numbering schemes. Many UBX messages (e.g. UBX-NAV-SVINFO)
use a single byte for the satellite identifier (normally named "svId"). This uses similar numbering to the
"extended" NMEA scheme and is merely an extension of the scheme in use for previous generations of u-blox
receivers.
With ever increasing numbers of GNSS satellites, this scheme will have to be phased out in future u-blox
receivers (as numbers greater than 255 will become necessary). Consequently, newer messages use a more
sophisticated, flexible and future-proof approach. This involves having a separate gnssId to identify which GNSS
type the satellite is part of and a simple svId which indicates which number the satellite is in that system. In
nearly all cases, this means that the "svId" is the natural number associated with the satellite. For example the
GLONASS SV4 is identified as gnssId 6, svId 4, while the GPS SV4 is gnssId 0, svId 4.
GNSS Identifiers
gnssId GNSS Type
0 GPS
1 SBAS
5 QZSS
6 GLONASS

Other values will be added as support for other GNSS types is enabled in u-blox receivers.
GLONASS satellites can be tracked before they have been identified. In UBX messages, such
unknown satellite numbers are always reported with svId 255.

4.3 Summary
A summary of all the SV numbering schemes is provided in the following table.
Satellite numbering
GNSS Type SV range UBX gnssId:svId UBX svId NMEA (strict) NMEA (extended)
GPS G1-G32 0:1-32 1-32 1-32 1-32
SBAS S120-S158 1:120-158 120-158 33-64 33-64,152-158
QZSS Q1-Q5 5:1-5 193-197 - 193-197
GLONASS R1-R32, R? 6:1-32, 6:255 65-96, 255 65-96, null 65-96, null

5 SBAS Configuration Settings Description

5.1 SBAS (Satellite Based Augmentation Systems)


SBAS (Satellite Based Augmentation System) is an augmentation technology for GPS, which calculates GPS
integrity and correction data with RIMS (Ranging and Integrity Monitoring Stations) on the ground and uses
geostationary satellites to broadcast GPS integrity and correction data to GPS users. The correction data is
transmitted on the GPS L1 frequency (1575.42 MHz), and therefore no additional receiver is required to make
use of the correction and integrity data.
Currently, there are no operational augmentation systems for any GNSS other than GPS.
Consequently this section only addresses GPS.

GPS.G7-SW-12001-B Public Release Page 5 of 196


SBAS Principle

There are several compatible SBAS systems available or in development all around the world:
• WAAS (Wide Area Augmentation System) for North America has been in operation since 2003.
• MSAS (Multi-Functional Satellite Augmentation System) for Asia has been in operation since 2007.
• EGNOS (European Geostationary Navigation Overlay Service) has been in operation since 2009.
• GAGAN (GPS Aided Geo Augmented Navigation), developed by the Indian government is at the time of
writing in test mode.
SBAS support allows u-blox GPS technology to take full advantage of the augmentation systems that are
currently available (WAAS, EGNOS, MSAS), as well as those being tested and planned (such as GAGAN).
With SBAS enabled the user benefits from additional satellites for ranging (navigation). u-blox GPS technology
uses the available SBAS Satellites for navigation just like GPS satellites, if the SBAS satellites offer this service.
To improve position accuracy SBAS uses different types of correction data:
• Fast Corrections for short-term disturbances in GPS signals (due to clock problems, etc).
• Long-term corrections for GPS clock problems, broadcast orbit errors etc.
• Ionosphere corrections for Ionosphere activity
Another benefit of SBAS is the use of GPS integrity information. In this way SBAS Control stations can ‘disable’
the use of GPS satellites within a 6 second alarm time in case of major GPS satellite problems. If integrity
monitoring is enabled, u-blox GPS technology only uses satellites, for which integrity information is available.
For more information on SBAS and associated services please refer to
• RTCA/DO-229D (MOPS). Available from www.rtca.org
• gps.faa.gov for information on WAAS.
• www.esa.int for information on EGNOS.
• www.essp-sas.eu for information about European Satellite Services Provider (ESSP), the EGNOS operations
manager.

GPS.G7-SW-12001-B Public Release Page 6 of 196


• www.isro.org for information on GAGAN.
SBAS satellites tracked (as of March 2012)
Identification Position GPS PRN SBAS Provider
AMR 98° W 133 WAAS
PanAmSat Galaxy XV 133.1° W 135 WAAS
TeleSat Anik F1R 107.3° W 138 WAAS
Inmarsat 3F2 AOR-E 15.5° W 120 EGNOS
Artemis 21.5° W 124 EGNOS
Inmarsat 3F5 IOR-W 25° E 126 EGNOS
MTSAT-1R 140° E 129 MSAS
MTSAT-2 145° E 137 MSAS
Inmarsat 4 F1 55.1° E 127 GAGAN

5.2 SBAS Features


This u-blox SBAS implementation is, in accordance with standard RTCA/DO-229D, a class Beta-1
equipment. All timeouts etc. are chosen for the En Route Case. Do not use this equipment under
any circumstances for safety of life applications!
u-blox receivers are capable of receiving multiple SBAS signals in parallel, even from different SBAS systems
(WAAS, EGNOS, MSAS, etc.). They can be tracked and used for navigation simultaneously. Every SBAS satellite
tracked utilizes one vacant receiver tracking channel. Only the number of receiver channels limits the total
number of satellites used. Each SBAS satellite, which broadcasts ephemeris or almanac information, can be
used for navigation, just like a normal GPS satellite.
For receiving correction data, the u-blox GPS receiver automatically chooses the best SBAS satellite as its
primary source. It will select only one since the information received from other SBAS satellites is redundant
and/or could be inconsistent. The selection strategy is determined by the proximity of the satellites, the services
offered by the satellite, the configuration of the receiver (Testmode allowed/disallowed, Integrity
enabled/disabled) and the signal link quality to the satellite.
In case corrections are available from the chosen SBAS satellite and used in the navigation calculation, the
DGPS flag is set in the receiver’s output protocol messages (see NAV-PVT, NAV-SOL, NAV-STATUS,
NAV-SVINFO, NMEA Position Fix Flags description). The message NAV-SBAS provides detailed
information about which corrections are available and applied.
The most important SBAS feature for accuracy improvement is Ionosphere correction. The measured data from
RIMS stations of a region are combined to a TEC (Total Electron Content) Map. This map is transferred to the
receiver via the satellites to allow a correction of the ionosphere error on each received satellite.
Supported SBAS messages
Message Type Message Content Source
0(0/2) Test Mode All
1 PRN Mask Assignment Primary
2, 3, 4, 5 Fast Corrections Primary
6 Integrity Primary
7 Fast Correction Degradation Primary
9 Satellite Navigation (Ephemeris) All
10 Degradation Primary
12 Time Offset Primary
17 Satellite Almanac All
18 Ionosphere Grid Point Assignment Primary

GPS.G7-SW-12001-B Public Release Page 7 of 196


Supported SBAS messages continued
Message Type Message Content Source
24 Mixed Fast / Long term Corrections Primary
25 Long term Corrections Primary
26 Ionosphere Delays Primary

Each satellite services a specific region and its correction signal is only useful within that region. Planning is
crucial to determine the best possible configuration, especially in areas where signals from different SBAS
systems can be received:
Example 1: SBAS Receiver in North America
In the eastern parts of North America, be careful that EGNOS satellites do not take preference over WAAS
satellites, the satellites from the EGNOS system should be disallowed using the PRN Mask.
Example 2: SBAS Receiver in Europe
Some WAAS satellites can be received in the western parts of Europe, therefore it is recommended that the
satellites from all but the EGNOS system should be disallowed using the PRN Mask.
Although u-blox receivers try to select the best available SBAS correction data, it is recommended
to configure them to disallow using unwanted SBAS satellites.

The EGNOS SBAS system does not provide the satellite ranging function.

5.3 SBAS Configuration


To configure the SBAS functionalities use the UBX proprietary message UBX-CFG-SBAS (SBAS Configuration).
SBAS Configuration parameters
Parameter Description
Mode - SBAS Subsystem Enables or disables the SBAS subsystem
Mode - Allow test mode usage Allow / Disallow SBAS usage from satellites in Test Mode (Message 0)
Services/Usage - Ranging Use the SBAS satellites for navigation
Services/Usage - Apply SBAS Combined enable/disable switch for Fast-, Long-Term and Ionosphere
correction data Corrections
Services/Usage - Apply integrity Use integrity data
information
Number of tracking channels Should be set using UBX-CGF-GNSS. The field in UBX-CFG-SBAS is
no longer supported.
PRN Mask Allows selectively enabling/disabling SBAS satellites (e.g. restrict SBAS
usage to WAAS-only).

By default SBAS is enabled with three prioritized SBAS channels and it will use any received SBAS satellites
(except for those in test mode) for navigation, ionosphere parameters and corrections.

6 Clocks and Time

6.1 Receiver Local Time


The receiver is dependent on a local oscillator (normally a TCXO or Crystal oscillator) for both the operation of
its radio parts and also for timing within its signal processing. No matter what the nominal frequency the local
oscillator is (e.g. 26MHz), u-blox receivers subdivide the oscillator signal to provide a 1kHz reference clock
signal which is used to drive many of the receiver's processes. In particular the measurement of satellite signals
is arranged to happen synchronised with the "ticking" of this 1kHz clock signal.
GPS.G7-SW-12001-B Public Release Page 8 of 196
When the receiver first starts, it has no information about how these clock ticks relate to other time systems; it
can only count time in 1 millisecond steps. However, as the receiver derives information from the satellites it is
tracking or from aiding messages, it estimates the time that each of these 1kHz clock ticks takes place in the
time-base of the relevant GNSS system. In previous versions of the firmware for u-blox receivers this was always
the GPS time-base, but in the latest firmware it could be GPS or GLONASS and in the future it could also be
other GNSS systems (such as Galileo, Compass.... etc). This estimate of GNSS time based on the local 1kHz
clock is called receiver local time.
As receiver local time is a mapping of the local 1kHz reference onto a GNSS time-base, it may experience
occasional discontinuities, especially when the receiver first starts up and the information it has about the
time-base is changing. Indeed after a cold start receiver local time will indicate the length of time that the
receiver has been running. However, when the receiver obtains some credible timing information from a
satellite or aiding message, it will jump to an estimate of GNSS time.

6.2 Navigation Epochs


Each navigation solution is triggered by the tick of the 1kHz clock nearest to the desired navigation solution
time. This tick is referred to as a navigation epoch. If the navigation solution attempt is successful, one of the
results is an accurate measurement of time in the time-base of the chosen GNSS system, called GNSS system
time. The difference between the calculated GNSS system time and receiver local time is called the clock bias
(and the clock drift is the rate at which this bias is changing).
In practice the receiver's local oscillator will not be as stable as the atomic clocks to which GNSS systems are
referenced and consequently clock bias will tend to accumulate. However, when selecting the next navigation
epoch, the receiver will always try to use the 1kHz clock tick which it estimates to be closest to the desired fix
period as measured in GNSS system time. Consequently the number of 1kHz clock ticks between fixes will
occasionally vary (so when producing one fix per second, there will normally be 1000 clock ticks between fixes,
but sometimes, to correct drift away from GNSS system time, there will be 999 or 1001).
The GNSS system time calculated in the navigation solution is always converted to a time in both the GPS and
UTC time-bases for output.
Clearly when the receiver has chosen to use the GPS time-base for its GNSS system time, conversion to GPS
time requires no work at all, but conversion to UTC requires knowledge of the number of leap seconds since
GPS time started (and other minor correction terms). The relevant GPS to UTC conversion parameters are
transmitted periodically (every 12.5 minutes) by GPS satellites, but can also be supplied to the receiver via the
UBX-AID-HUI aiding message. By contrast when the receiver has chosen to use the GLONASS time-base as its
GNSS system time, conversion to GPS time is more difficult as it requires knowledge of the difference between
the two time-bases, but conversion to UTC is easier (as GLONASS time is closely linked to UTC).
Where insufficient information is available for the receiver to perform any of these time-base conversions
precisely, pre-defined default offsets are used. Consequently plausible times are nearly always generated, but
they may be wrong by a few seconds (especially shortly after receiver start). Depending on the configuration of
the receiver, such "invalid" times may well be output, but with flags indicating their state (e.g. the "valid" flags
in UBX-NAV-PVT).
Future u-blox receivers are likely to employ multiple GNSS system times and/or receiver local times
(in order to support multiple GNSS systems in parallel), so users should not rely on UBX messages
that report GNSS system time or receiver local time being supported in future. It is therefore
recommended to give preference to those messages that report UTC time.

GPS.G7-SW-12001-B Public Release Page 9 of 196


6.3 iTOW Timestamps
All the main UBX-NAV messages (and some other messages) contain an iTOW field which indicates the GPS
time at which the navigation epoch occurred. Messages with the same iTOW value can be assumed to have
come from the same navigation solution.
Note that iTOW values may not be valid (i.e. they may have been generated with insufficient conversion data)
and therefore it is not recommended to use the iTOW field for any other purpose. If reliable absolute time
information is required, users are recommended to use the UBX-NAV-TIMEUTC, UBX-NAV-TIMEGPS,
UBX-NAV-PVT or UBX-NAV-SOL messages, which contain additional fields that indicate the validity and
accuracy of the calculated times.
The original designers of GPS chose to express time/date as an integer week number (starting with
the first full week in January 1980) and a time of week (often abbreviated to TOW) expressed in
seconds. Manipulating time/date in this form is far easier for digital systems than the more
"conventional" year/month/day, hour/minute/second representation. Consequently, most GPS/GNSS
receivers use this representation internally, only converting to a more "conventional forms" at
external interfaces. The iTOW field is the most obvious externally visible consequence of this
internal representation.

6.4 UTC Representation


UTC time is used in many NMEA and UBX messages. In NMEA messages it is always reported rounded to the
nearest hundredth of a second. Consequently, it is normally reported with two decimal places (e.g. 124923.
52). What is more, although compatibility mode (selected using UBX-CFG-NMEA) requires three decimal
places, rounding to the nearest hundredth of a second remains, so the extra digit is always 0.
UTC time is is also reported within some UBX messages, such as UBX-NAV-TIMEUTC and UBX-NAV-PVT. In
these messages date and time are separated into seven distinct integer fields. Six of these (year, month, day,
hour, min and sec) have fairly obvious meanings and are all guaranteed to match the corresponding values in
NMEA messages generated by the same navigation epoch. This facilitates simple synchronisation between
associated UBX and NMEA messages.
The seventh field is called nano and it contains the number of nanoseconds by which the rest of the time and
date fields need to be corrected to get the precise time. So, for example, the UTC time 12:49:23.521 would be
reported as: hour: 12, min: 49, sec: 23, nano: 521000000.
It is however important to note that the first six fields are the result of rounding to the nearest hundredth of a
second. Consequently the nano value can range from -5000000 (i.e. -5 ms) to +994999999 (i.e. nearly 995
ms).
When the nano field is negative, the number of seconds (and maybe minutes, hours, days, months or even
years) will have been rounded up. Therefore, some or all of them will need to be adjusted in order to get the
correct time and date. Thus in an extreme example, the UTC time 23:59:59.9993 on 31st December 2011
would be reported as: year: 2012, month: 1, day: 1, hour: 0, min: 0, sec: 0, nano: -700000.
Of course, if a resolution of one hundredth of a second is adequate, negative nano values can simply be
rounded up to 0 and effectively ignored.

6.5 Leap Seconds


Occasionally it is decided (by one of the international time keeping bodies) that, due to the slightly uneven spin
rate of the Earth, UTC has moved sufficiently out of alignment with mean solar time (i.e. the Sun no longer
appears directly overhead at 0 longitude at midday). A "leap second" is therefore announced to bring UTC
back into close alignment. This normally involves adding an extra second to the last minute of the year, but it
can also happen on 30th June. When this happens UTC clocks are expected to go from 23:59:59 to 23:59:60

GPS.G7-SW-12001-B Public Release Page 10 of 196


and only then on to 00:00:00.
It is also theoretically possible to have a negative leap second, in which case there will only be 59 seconds in a
minute and 23:59:58 will be followed by 00:00:00.
u-blox receivers are designed to handle leap seconds in their UTC output and consequently users processing
UTC times from either NMEA and UBX messages should be prepared to handle minutes that are either 59 or 61
seconds long.
Note that the behavior of GLONASS signals during leap seconds is not well defined. As a
consequence, users should be prepared for the receiver to restart itself if GLONASS signals are
being tracked when a leap second occurs.

6.6 Real Time Clock


u-blox receivers contain circuitry to support a real time clock, which (if correctly fitted and powered) keeps
time while the receiver is otherwise powered off. When the receiver powers up, it attempts to use the real time
clock to initialise receiver local time and in most cases this leads to appreciably faster first fixes.

7 Serial Communication Ports Description


u-blox positioning technology comes with a highly flexible communication interface. It supports the NMEA and
the proprietary UBX protocols, and is truly multi-port and multi-protocol capable. Each protocol (UBX, NMEA)
can be assigned to several ports at the same time (multi-port capability) with individual settings (e.g. baud rate,
message rates, etc.) for each port. It is even possible to assign more than one protocol (e.g. UBX protocol and
NMEA at the same time) to a single port (multi-protocol capability), which is particularly useful for debugging
purposes.
To enable a message on a port the UBX and/or NMEA protocol must be enabled on that port using the UBX
proprietary message CFG-PRT. This message also allows changing port-specific settings (baud rate, address
etc.). See CFG-MSG for a description of the mechanism for enabling and disabling messages.
The following table shows the port numbers used. Note that any numbers not listed are reserved for future use.
Port Number assignment
Port # Electrical Interface
0 DDC (I²C compatible)
1 UART 1
3 USB
4 SPI

7.1 TX-ready indication


This feature enables each port to define a corresponding pin, which indicates if bytes are ready to be
transmitted. By default, this feature is disabled. For USB, this feature is configurable but might not behave as
described below due to a different internal transmission mechanism. If the number of pending bytes reaches
the threshold configured for this port, the corresponding pin will become active (configurable active-low or
active-high), and stay active until the last bytes have been transferred from software to hardware (note that this
is not necessarily equal to all bytes transmitted, i.e. after the pin has become inactive, up to 16 bytes can still
need to be transferred to the host).
The TX-ready pin can be selected from all PIOs which are not in use (see MON-HW for a list of the PIOs and their
mapping), each TX-ready pin is exclusively for one port and cannot be shared. If the PIO is invalid or already in
use, only the configuration for the TX-ready pin is ignored, the rest of the port configuration is applied if valid.
The acknowledge message does not indicate if the TX-ready configuration is successfully set, it only indicates

GPS.G7-SW-12001-B Public Release Page 11 of 196


the successful configuration of the port. To validate successful configuration of the TX-ready pin, the port
configuration should be polled and the settings of TX-ready feature verified (will be set to disabled/all zero if
settings invalid).
The threshold should not be set above 2 kB, as the internal message buffer limit can be reached before this,
resulting in the TX-ready pin never being set as messages are discarded before the threshold is reached.

7.2 Extended TX timeout


If the host does not communicate over SPI or DDC for more than approximately 2 seconds, the device assumes
that the host is no longer using this interface and no more packets are scheduled for this port. This mechanism
can be changed enabling "extended TX timeouts", in which case the receiver delays idling the port until the
allocated and undelivered bytes for this port reach 4 kB. This feature is especially useful when using the
TX-ready feature with a message output rate of less than once per second, and polling data only when data is
available, determined by the TX-ready pin becoming active.

7.3 UART Ports


One or two Universal Asynchronous Receiver/Transmitter (UART) ports are featured, that can be used to
transmit GNSS measurements, monitor status information and configure the receiver. See our online product
descriptions for availability.
The serial ports consist of an RX and a TX line. Neither handshaking signals nor hardware flow control signals
are available. These serial ports operate in asynchronous mode. The baud rates can be configured individually
for each serial port. However, there is no support for setting different baud rates for reception and transmission
or for different protocols on the same port.
Possible UART Interface Configurations
Baud Rate Data Bits Parity Stop Bits
4800 8 none 1
9600 8 none 1
19200 8 none 1
38400 8 none 1
57600 8 none 1
115200 8 none 1

Note that for protocols such as NMEA or UBX, it does not make sense to change the default word length
values (data bits) since these properties are defined by the protocol and not by the electrical interface.
If the amount of data configured is too much for a certain port's bandwidth (e.g. all UBX messages output on a
UART port with a baud rate of 9600), the buffer will fill up. Once the buffer space is exceeded, new messages
to be sent will be dropped. To prevent message losses, the baudrate and communication speed or the number
of enabled messages should be selected so that the expected number of bytes can be transmitted in less than
one second.
See CFG-PRT for UART for a description of the contents of the UART port configuration message.

7.4 USB Port


One Universal Serial Bus (USB) port is featured. See the Data Sheet of your specific product for availability. This
port can be used for communication purposes and to power the positioning chip or module.
The USB interface supports two different power modes:
• In Self Powered Mode the receiver is powered by its own power supply. VDDUSB is used to detect the
availability of the USB port, i.e. whether the receiver is connected to a USB host.

GPS.G7-SW-12001-B Public Release Page 12 of 196


• In Bus Powered Mode the device is powered by the USB bus, therefore no additional power supply is
needed. See the table below for the default maximum current that can be drawn by the receiver. See
CFG-USB for a description on how to change this maximum. Configuring Bus Powered Mode indicates that
the device will enter a low power state with disabled GNSS functionality when the host suspends the device,
e.g. when the host is put into stand-by mode.
Maximum Current in Bus Powered Mode
Generation Max Current
u-blox 7 50 mA

The voltage range for VDDUSB is specified from 3.0V to 3.6V, which differs slightly from the
specification for VCC

7.5 DDC Port


A Display Data Channel (DDC) bus is implemented, which is a 2-wire communication interface compatible with
the I²C standard (Inter-Integrated Circuit). See our online product selector matrix for availability.
Unlike all other interfaces, the DDC is not able to communicate in full-duplex mode, i.e. TX and RX are mutually
exclusive. u-blox receivers act as a slave in the communication setup, therefore they cannot initiate data
transfers on their own. The host, which is always master, provides the data clock (SCL), and the clock frequency
is therefore not configurable on the slave.

The clock rate on the SCL line generated by the master must not exceed 400 kHz (fast-mode).

The receiver's DDC address is set to 0x42 by default. This address can be changed by setting the mode field in
CFG-PRT for DDC accordingly.
As the receiver will be run in slave mode and the physical layer lacks a handshake mechanism to inform the
master about data availability, a layer has been inserted between the physical layer and the UBX and NMEA
layer. The DDC implements a simple streaming interface that allows the constant polling of data, discarding
everything that is not parseable. This means that the receiver returns 0xFF if no data is available. The TX-ready
feature can be used to inform the master about data availability and can be used as a trigger for data
transmission.

7.5.1 Read Access


To allow both polled access to the full message stream and quick access to the key data, the register layout
depicted in Figure DDC Register Layout is provided. The data registers 0 to 252, at addresses 0x00 to 0xFC,
each 1 byte in size, contain information to be defined at a later point in time. At addresses 0xFD and 0xFE, the
currently available number of bytes in the message stream can be read. At address 0xFF, the message stream is
located. Subsequent reads from 0xFF return the messages in the transmit buffer, byte by byte. If the number of
bytes read exceeds the number of bytes indicated, the payload is padded using the value 0xFF.
The registers 0x00 to 0xFC will be defined in a later firmware release. Do not use them, as they
don't provide any meaningful data!

GPS.G7-SW-12001-B Public Release Page 13 of 196


DDC Register Layout

7.5.1.1 Random Read Access


Random read operations allow the master to access any register in a random manner. To perform this type of
read operation, first the register address to read from must be written to the receiver (see Figure DDC Random
Read Access). Following the start condition from the master, the 7-bit device address and the RW bit (which is a
logic low for write access) are clocked onto the bus by the master transmitter. The receiver answers with an
acknowledge (logic low) to indicate that it is responsible for the given address. Next, the 8-bit address of the
register to be read must be written to the bus. Following the receiver’s acknowledge, the master again triggers
a start condition and writes the device address, but this time the RW bit is a logic high to initiate the read
access. Now, the master can read 1 to N bytes from the receiver, generating a not-acknowledge and a stop
condition after the last byte being read. After every byte being read, the internal address counter is
incremented by one, saturating at 0xFF. This saturation means, that, after having read all registers coming after
the initially set register address, the raw message stream can be read.

GPS.G7-SW-12001-B Public Release Page 14 of 196


DDC Random Read Access

7.5.1.2 Current Address Read


The receiver contains an address counter that maintains the address of the last register accessed, internally
incremented by one. Therefore, if the previous read access was to address n (where n is any legal address), the
next current address read operation would access data from address n+1 (see Figure DDC Current Address
Read Access). Upon receipt of the device address with the RW bit set to one, the receiver issues an acknowledge
and the master can read 1 to N bytes from the receiver, generating a not-acknowledge and a stop condition
after the last byte being read.
To allow direct access to streaming data, the internal address counter is initialized to 0xFF, meaning that
current address reads without a preceding random read access return the raw message stream. The address
counter can be set to another address at any point using a random read access.
DDC Current Address Read Access

7.5.2 Write Access


The receiver does not provide any write access except for writing UBX and NMEA messages to the receiver,
such as configuration or aiding data. Therefore, the register set mentioned in section Read Access is not
writable. Following the start condition from the master, the 7-bit device address and the RW bit (which is a logic
low for write access) are clocked onto the bus by the master transmitter. The receiver answers with an
acknowledge (logic low) to indicate that it is responsible for the given address. Now, the master can write 2 to

GPS.G7-SW-12001-B Public Release Page 15 of 196


N bytes to the receiver, generating a stop condition after the last byte being written. The number of data bytes
must be at least 2 to properly distinguish from the write access to set the address counter in random read
accesses.
DDC Write Access

7.6 SPI Port


A Serial Peripheral Interface (SPI) bus is available with selected receivers. See our online product descriptions for
availability.
SPI is a four-wire synchronous communication interface. In contrast to UART, the master provides the clock
signal, which therefore doesn't need to be specified for the slave in advance. Moreover, a baud rate setting is
not applicable for the slave. SPI modes 0-3 are implemented and can be configured using the field mode.
spiMode in CFG-PRT for SPI (default is SPI mode 0).

The SPI clock speed is limited depending on hardware and firmware versions!

7.6.1 Maximum SPI clock speed


u-blox 7
Firmware Version Max SPI speed
1.00 5.5 MHz

7.6.2 Read Access


As the register mode is not implemented for the SPI port, only the UBX/NMEA message stream is provided. This
stream is accessed using the Back-To-Back Read and Write Access (see section Back-To-Back Read and Write
Access). When no data is available to be written to the receiver, MOSI should be held logic high, i.e. all bytes
written to the receiver are set to 0xFF.
To prevent the receiver from being busy parsing incoming data, the parsing process is stopped after 50
subsequent bytes containing 0xFF. The parsing process is re-enabled with the first byte not equal to 0xFF. The
number of bytes to wait for deactivation (50 by default) can be adjusted using the field mode.ffCnt in
CFG-PRT for SPI, which is only necessary when messages shall be sent containing a large number of
subsequent 0xFF bytes.
If the receiver has no more data to send, it sets MISO to logic high, i.e. all bytes transmitted decode to 0xFF. An
efficient parser in the host will ignore all 0xFF bytes which are not part of a message and will resume data
processing as soon as the first byte not equal to 0xFF is received.
GPS.G7-SW-12001-B Public Release Page 16 of 196
7.6.3 Back-To-Back Read and Write Access
The receiver does not provide any write access except for writing UBX and NMEA messages to the receiver,
such as configuration or aiding data. For every byte written to the receiver, a byte will simultaneous be read
from the receiver. While the master writes to MOSI, at the same time it needs to read from MISO, as any
pending data will be output by the receiver with this access. The data on MISO represents the results from a
current address read, returning 0xFF when no more data is available.
SPI Back-To-Back Read/Write Access

7.7 How to change between protocols


Reconfiguring a port from one protocol to another is a two-step process:
• Step 1: the preferred protocol(s) needs to be enabled on a port using CFG-PRT. One port can handle several
protocols at the same time (e.g. NMEA and UBX). By default, all ports are configured for UBX and NMEA
protocol so in most cases, it’s not necessary to change the port settings at all. Port settings can be viewed
and changed using the CFG-PRT messages.
• Step 2: activate certain messages on each port using CFG-MSG.

8 Receiver Configuration

8.1 Configuration Concept


u-blox positioning technology is fully configurable with UBX protocol configuration messages (message class
UBX-CFG). The configuration used by the GNSS receiver during normal operation is termed "Current
Configuration". The Current Configuration can be changed during normal operation by sending any
UBX-CFG-XXX message to the receiver over an I/O port. The receiver will change its Current Configuration
immediately after receiving the configuration message. The GNSS receiver always uses only the Current
Configuration.
Unless the Current Configuration is made permanent by using UBX-CFG-CFG as described below, the Current
Configuration will be lost in case of:
• a power cycle
• a hardware reset
• a (complete) controlled software reset
See the section on resetting a receiver for details.
The Current Configuration can be made permanent (stored in a non-volatile memory) by saving it to the
"Permanent Configuration". This is done by sending a UBX-CFG-CFG message with an appropriate saveMask
(UBX-CFG-CFG/save).
GPS.G7-SW-12001-B Public Release Page 17 of 196
The Permanent Configuration is copied to the Current Configuration after start-up or when a UBX-CFG-CFG
message with an appropriate loadMask (UBX-CFG-CFG/load) is sent to the receiver.
The Permanent Configuration can be restored to the receiver's Default Configuration by sending a
UBX-CFG-CFG message with an appropriate clearMask (UBX-CFG-CFG/clear) to the receiver.
This only replaces the Permanent Configuration, not the Current Configuration. To make the receiver operate
with the Default Configuration which was restored to the Permanent Configuration, a UBX-CFG-CFG/load
command must be sent or the receiver must be reset.
The mentioned masks (saveMask, loadMask, clearMask) are 4-byte bitfields. Every bit represents one
configuration sub-section. These sub-sections are defined in section "Organization of the Configuration
Sections". All three masks are part of every UBX-CFG-CFG message. Save, load and clear commands can be
combined in the same message. Order of execution is: clear, save, load.
The following diagram illustrates the process:

8.2 Organization of the Configuration Sections


The configuration is divided into several sub-sections. Each of these sub-sections corresponds to one or several
UBX-CFG-XXX messages. The sub-section numbers in the following tables correspond to the bit position in the
masks mentioned above. All values not listed are reserved
Configuration sub-sections
Number Name CFG messages Description
0 PRT UBX-CFG-PRT Port and USB settings
UBX-CFG-USB
1 MSG UBX-CFG-MSG Message settings (enable/disable, update rate)
2 INF UBX-CFG-INF Information output settings (Errors, Warnings, Notice, Test etc.)
3 NAV UBX-CFG-NAV5 Navigation Parameter, Receiver Datum, Measurement and
UBX-CFG-NAVX5 Navigation Rate setting, SBAS settings, NMEA protocol settings
UBX-CFG-DAT
UBX-CFG-RATE
UBX-CFG-SBAS
UBX-CFG-NMEA
4 RXM UBX-CFG-GNSS GNSS Settings, Power Mode Settings, Time Pulse Settings,
UBX-CFG-TP5 Jamming/Interference Monitor Settings
UBX-CFG-RXM
UBX-CFG-PM2
UBX-CFG-ITFM
9 RINV UBX-CFG-RINV Remote Inventory configuration

GPS.G7-SW-12001-B Public Release Page 18 of 196


Configuration sub-sections continued
Number Name CFG messages Description
10 ANT UBX-CFG-ANT Antenna configuration
11 LOG UBX-CFG-LOGFILTER Logging configuration

8.3 Permanent Configuration Storage Media


The Current Configuration is stored in the receiver's volatile RAM. Hence, any changes made to the Current
Configuration without saving will be lost if any of the reset events listed in the section above occur. By using
UBX-CFG-CFG/save, the selected configuration sub-sections are saved to all non-volatile memories available:
• On-chip BBR (battery backed RAM). In order for the BBR to work, a backup battery must be applied to the
receiver.
• External flash memory, where available.

8.4 Receiver Default Configuration


The Permanent Configuration can be reset to Default Configuration through a UBX-CFG-CFG/clear message.
The receiver's Default Configuration is normally determined when the receiver is manufactured. Refer to
specific product data sheet for further details.

9 Forcing a Receiver Reset


Typically, in GNSS receivers, one distinguishes between Cold, Warm, and Hot starts, depending on the type of
valid information the receiver has at the time of the restart.
• Cold start In this mode, the receiver has no information from the last position (e.g. time, velocity, frequency
etc.) at startup. Therefore, the receiver must search the full time and frequency space, and all possible
satellite numbers. If a satellite signal is found, it is tracked to decode the ephemeris (18-36 seconds under
strong signal conditions), whereas the other channels continue to search satellites. Once there is a sufficient
number of satellites with valid ephemeris, the receiver can calculate position and velocity data. Please note
that some competitors call this startup mode Factory Startup.
• Warm start In Warm start mode, the receiver has approximate information for time, position, and coarse
satellite position data (Almanac). In this mode, after power-up, the receiver normally needs to download
ephemeris before it can calculate position and velocity data. As the ephemeris data usually is outdated after
4 hours, the receiver will typically start with a Warm start if it has been powered down for more than 4
hours. In this scenario, several augmentations exist. See the section on Aiding and Acquisition.
• Hot start In Hot start, the receiver was powered down only for a short time (4 hours or less), so that its
ephemeris is still valid. Since the receiver doesn't need to download ephemeris again, this is the fastest
startup method.
In the UBX-CFG-RST message, one can force the receiver to reset and clear data, in order to see the effects of
maintaining/losing such data between restarts. For this, the CFG-RST message offers the navBbrMask field,
where Hot, Warm and Cold starts can be initiated, and also other combinations thereof.
Data stored in flash memory is not cleared by any of the options provided by UBX-CFG-RST. So, for
example, if valid AlmanacPlus data stored in the flash it is likely to have an impact on a "Cold start".
The Reset Type can also be specified. This is not related to GNSS, but to the way the software restarts the
system.
• Hardware Reset uses the on-chip Watchdog, in order to electrically reset the chip. This is an immediate,
asynchronous reset. No Stop events are generated. This is equivalent to pulling the Reset signal on the
receiver.

GPS.G7-SW-12001-B Public Release Page 19 of 196


• Controlled Software Reset terminates all running processes in an orderly manner and, once the system is
idle, restarts operation, reloads its configuration and starts to acquire and track GNSS satellites.
• Controlled Software Reset (GNSS only) only restarts the GNSS tasks, without reinitializing the full system
or reloading any stored configuration.
• Controlled GNSS Stop stops all GNSS tasks. The receiver will not be restarted, but will stop any GNSS
related processing.
• Controlled GNSS Start starts all GNSS tasks.

10 Remote Inventory

10.1 Description
The Remote Inventory enables storing user-defined data in the non-volatile memory of the receiver. The data
can be either binary or a string of ASCII characters. In the second case, it is possible to dump the data at
startup.

10.2 Usage
• The contents of the Remote Inventory can be set and polled with the message UBX-CFG-RINV. Refer to the
message specification for a detailed description.
• If the contents of the Remote Inventory are polled without having been set before, the default configuration
(see table below) is output.
Default configuration
Parameter Value
flags 0x00
data "Notice: no data saved!"

As with all configuration changes, these must be saved in order to be made permanent. Make sure
to save the section RINV before resetting or switching off the receiver. More information about
saving a configuration section can be found in chapter Configuration Concept.

11 Power Management
u-blox receivers support different power modes. These modes represent strategies of how to control the
acquisition and tracking engines in order to achieve either the best possible performance or good performance
with reduced power consumption.
Power modes are selected using the message CFG-RXM and configured using UBX-CFG-PM2.

11.1 Continuous Mode


During a Cold start, a receiver in Continuous Mode continuously deploys the acquisition engine to search for all
satellites. Once a position can be calculated and a sufficient number of satellites are being tracked, the
acquisition engine is powered off resulting in significant power savings. The tracking engine continuously tracks
acquired satellites and acquires other available or emerging satellites. Whenever the receiver can not calculate a
position anymore or the number of satellites tracked is below the sufficient number, the acquisition engine is
powered on again to guarantee a quick reacquisition.
Note that even if the acquisition engine is powered off, satellites continue to be acquired.

GPS.G7-SW-12001-B Public Release Page 20 of 196


11.2 Power Save Mode
Power Save Mode (PSM) allows a reduction in system power consumption by selectively switching parts of the
receiver on and off.
Note: Power Save Mode cannot be selected when the receiver is configured to process GLONASS
signals.

11.2.1 Operation
Power Save Mode has two modes of operation: cyclic tracking operation and ON/OFF operation. Cyclic tracking
operation is used when position fixes are required in short periods of 1 to 10s. ON/OFF operation on the other
hand is used for periods longer than 10s. Periods in ON/OFF operation can be in the order of minutes, hours or
days. The mode of operation can be configured and depending on the setting, the receiver demonstrates
different behavior: In ON/OFF operation the receiver switches between phases of startup/navigation and phases
with low or almost no system activity. In cyclic tracking the receiver does not shut down completely between
fixes, but uses low power tracking instead.
PSM is based on a state machine with five different states: Inactive for update and Inactive for search states,
Acquisition state, Tracking state and Power Optimized Tracking (POT) state.
• Inactive states: Most parts of the receiver are switched off.
• Acquisition state: The receiver actively searches for and acquires signals. Maximum power consumption.
• Tracking state: The receiver continuously tracks and downloads data. Less power consumption than in
Acquisition state.
• POT state: The receiver repeatedly loops through a sequence of tracking (TRK), calculating the position fix
(Calc), and entering an idle period (Idle). No new signals are acquired and no data is downloaded. Much less
power consumption than in Tracking state.
The following figure illustrates the state machine:

GPS.G7-SW-12001-B Public Release Page 21 of 196


State machine

11.2.1.1 ON/OFF operation - long update period


When the receiver is switched on, it first enters Acquisition state. If it is able to obtain a valid position fix within
the time given by the acquisition timeout, it switches to Tracking state. Otherwise it enters Inactive for search
state and re-starts after the configured search period (minus a startup margin). As soon as the receiver gets a
valid position fix (one passing the navigation output filters), it enters Tracking state. Upon entering Tracking
state, the on time is started. Once the on time is over Inactive for update state is entered and the receiver
re-starts according to the configured update grid (see chapter Grid offset for an explanation). If the signal is lost
while in Tracking state, Acquisition state is entered. If the signal is not found within the acquisition timeout, the
receiver enters Inactive for search state. Otherwise the receiver will re-enter Tracking state and stay there until
the newly started on time is over.
The diagram below illustrates how ON/OFF operation works:

GPS.G7-SW-12001-B Public Release Page 22 of 196


Diagram of ON/OFF operation

11.2.1.2 Cyclic tracking operation - short update period


When the receiver is switched on, it first enters Acquisition state. If it is able to obtain a position fix within the
time given by the acquisition timeout, it switches to Tracking state. Otherwise, it will enter Inactive for search
state and re-start within the configured search grid. After a valid position fix, Tracking state is entered and the
on time is started. In other words the on time is started with the first valid position fix. Once the on time is
over, POT state is entered. In POT state the receiver continues to output position fixes according to the update
period. To have maximum power savings, set the on time to zero. This causes the receiver to enter POT state as
soon as possible. If the signal becomes weak or is lost during POT state, Tracking state is entered. Once the
signal is good again and the newly started on time is over, the receiver will re-enter POT state. If the receiver
can't get a position fix in the Tracking state, it enters Acquisition state. Should the acquisition fail as well,
Inactive for search state is entered.
The diagram below illustrates how cyclic tracking operation works:
Diagram of cyclic tracking operation

11.2.1.3 User controlled operation - update and search period of zero


Setting the update period to zero causes the receiver to wait in the Inactive for update state until woken up by
the user. Setting the search period to zero causes the receiver to wait in the Inactive for search state indefinitely
after an unsuccessful start-up. Any wake-up event will re-start the receiver. See chapter Wake-up for more
information on wake-up events.

External wake-up is required when setting update or search period to zero!

11.2.1.4 Satellite data download


The receiver is not able to download satellite data (e.g. the ephemeris) while it is working in ON/OFF or cyclic
tracking operation. Therefore it has to temporarily switch to continuous operation for the time the satellites
transmit the desired data. To save power the receiver schedules the downloads according to an internal
timetable and only switches to continuous operation while data of interest is being transmitted by the SVs.
Each SV transmits its own ephemeris data. Ephemeris data download is feasible when the corresponding SV
GPS.G7-SW-12001-B Public Release Page 23 of 196
has been tracked with a minimal C/No over a certain period of time. The download is scheduled in a 30 minute
grid or immediately when fewer than a certain number of visible SVs have valid ephemeris data.
Almanac, ionosphere, UTC correction and SV health data are transmitted by all SVs simultaneously. Therefore
these parameters can be downloaded when a single SV is tracked with a high enough C/No.

11.2.2 Configuration
Power Save Mode is enabled and disabled with the UBX-CFG-RXM message and configured with the
UBX-CFG-PM2 message.
When enabling Power Save Mode, SBAS support can be disabled (UBX-CFG-SBAS) since the
receiver will be unable to download any SBAS data in this mode.
A number of parameters can be used to customize PSM to your specific needs. These parameters are listed in
the following table:
Power Save Mode configuration options
Parameter Description
Mode of operation Receiver mode of operation
Update period Time between two position fix attempts
Search period Time between two acquisition attempts if the receiver is unable to get a position fix
Acquisition timeout Time after which the receiver stops acquisition and enters Inactive for search state
On-time Time the receiver remains in Tracking state and produces position fixes
Wait for timefix Wait for time fix before entering Tracking state
Do not enter Inactive for Receiver does not enter Inactive for search state if it can't get a position fix but keeps
search state trying instead
Update RTC Enables periodic Real Time Clock (RTC) update
Update Ephemeris Enables periodic ephemeris update
EXTINT selection Selects EXTINT pin used with pin control feature
EXTINT 'high' keeps Enables force-ON pin control feature
awake
EXTINT 'low' forces sleep Enables force-OFF pin control feature
Grid offset Time offset of update grid with respect to GPS start of week

11.2.2.1 Mode of operation


The mode of operation to use mainly depends on the update period: For short update periods (in the range of
a few seconds), cyclic tracking should be configured. On the other hand, for long update periods (in the range
of minutes or longer) only work with ON/OFF operation.
See chapter ON/OFF operation - long update period and Cyclic tracking operation - short update period for
more information on the two modes of operation.

11.2.2.2 Update and search period


The update period specifies the time between successive position fixes. If no position fix can be obtained within
the acquisition timeout, the receiver will retry after the time specified by the search period. Update and search
period are fixed with respect to an absolute time grid based on GPS time. They do not refer to the time of the
last valid position fix or last position fix attempt.
New settings are ignored if the update period or the search period exceeds the maximum number
of milliseconds in a week. In that case the previously stored values remain effective.

GPS.G7-SW-12001-B Public Release Page 24 of 196


11.2.2.3 Acquisition timeout
The receiver tries to obtain a position fix within the time given in the acquisition timeout. This setting is treated
as a minimum value. If the receiver determines that it needs more time for the given starting conditions, it will
automatically prolong this time. If set to zero, the acquisition timeout is exclusively determined by the receiver.
In case of a very weak or no GPS signal, the timeout determined by the receiver may be shortened in order to
save power. However, the acquisition timeout will never be shorter than the configured value.

11.2.2.4 On time and wait for timefix


The on time specifies how long the receiver stays in Tracking state before switching to POT and Inactive for
update state respectively. The quality of the position fixes can be configured by setting the masks in the
message UBX-CFG-NAV5. If the wait for timefix option is enabled the transition from Acquisition to Tracking
state is made only if the GPS time is known and within the configured limits, and the receiver is continuously
producing position fixes for more than two seconds. Thus enabling the wait for timefix option usually delays
the transition from Acquisition to Tracking state by a few seconds. Keep in mind that setting harder limits in
UBX-CFG-NAVX5 will prolong start-up time so you might want to increase the acquisition timeout.

11.2.2.5 Do not enter 'inactive for search' state when no fix


If this option is enabled, the receiver acts differently in case it can't get a fix: instead of entering Inactive for
search state, it keeps trying to acquire a fix. In other words, the receiver will never be in Inactive for search state
and therefore the search period and the acquisition timeout are obsolete.

11.2.2.6 Update RTC and Ephemeris


To maintain the ability of a fast start-up, the receiver needs to calibrate its RTC and update its ephemeris data
on a regular basis. This can be ensured by activating the update RTC and update Ephemeris option. The RTC is
calibrated every 5 minutes and the ephemeris data is updated approximately every 30 minutes. See chapter
Satellite data download for more information.

11.2.2.7 EXTINT pin control


The pin control feature allows overriding the automatic active/inactive cycle of Power Save Mode. The state of
the receiver can be controlled through either the EXTINT0 or the EXTINT1 pin.
If the Force-ON feature is enabled, the receiver will not enter the Inactive states as long as the configured
EXTINT pin (either EXTINT0 or EXTINT1) is at a 'high' level. The receiver will therefore always be in Acquisition/
Tracking states (ON/OFF operation) and Acquisition/Tracking/POT states (cyclic tracking operation) respectively.
When the pin level changes to 'low' the receiver continues with its configured behavior. UBX-CFG-PM2 is used
to select and configure the pin that will control the behavior as described above.
If the Force-OFF feature is enabled, the receiver will enter Inactive state and remain there until the next
wake-up event. Any wake-up event can wake up the receiver, even while the EXTINT pin is set to Force-OFF.
However, the receiver will only wake up for the time period needed to read the configuration pin settings, i.e.
Force-OFF, and will then enter Inactive state again.

11.2.2.8 Grid offset


Once the receiver has a valid time, the update grid is aligned to the start of the GPS week (Sunday at 00:00
o'clock). Before having a valid time, the update grid is unaligned. A grid offset now shifts the update grid with
respect to the start of the GPS week. An example of usage can be found in chapter Use grid offset.

The grid offset is not used in cyclic tracking operation.

GPS.G7-SW-12001-B Public Release Page 25 of 196


11.2.3 Features

11.2.3.1 Communication
When PSM is enabled, communication with the receiver (e.g. UBX message to disable PSM) requires particular
attention. This is because the receiver may be in Inactive state and therefore unable to receive any message
through its interfaces. To ensure that the configuration messages are processed by the receiver, even while in
Inactive state, the following steps need to be taken:
• Send a dummy sequence of 0xFF (one byte is sufficient) to the receiver's UART interface. This will wake the
receiver up in case it is in Inactive state. If the receiver is not in Inactive state, the sequence will be ignored.
• Send the configuration message about half a second after the dummy sequence. If the interval between the
dummy sequence and the configuration message is too short, the receiver may not yet be ready. On the
other hand, if the interval is too long, the receiver may return to Inactive state before the configuration
message was received. It is therefore important to check for a UBX-ACK-ACK reply from the receiver to
confirm that the configuration message was received.
• Send the configuration save message immediately after the configuration message.

11.2.3.2 Wake-up
The receiver can be woken up by generating an edge on one of the following pins:
• rising or falling edge on one of the EXTINT pins
• rising or falling edge on the RXD1 pin
• rising edge on NRESET pin
All wake-up signals are interpreted as a position request, where the receiver wakes up and tries to obtain a
position fix. Wake-up signals have no effect if the receiver is already in Acquisition, Tracking or POT state.

11.2.3.3 Behavior while USB host connected


As long as the receiver is connected to a USB host, it will not enter the lowest possible power state. This is
because it must retain a small level of CPU activity to avoid breaching requirements of the USB specification.
The drawback, however, is that power consumption is higher.
Wake-up by pin/UART is possible even if the receiver is connected to a USB host. The state of the
pin must be changed for at least one millisecond.

11.2.3.4 Cooperation with the AssistNow Autonomous feature


If both PSM and AssistNow Autonomous features are enabled, the receiver won't enter Inactive for update
state as long as AssistNow Autonomous carries out calculations. This prevents losing data from unfinished
calculations and, in the end, reduces the total extra power needed for AssistNow Autonomous. The delay
before entering Inactive for update state, if any, will be in the range of several seconds, rarely more than 20
seconds.
Only entering Inactive for update state is affected by AssistNow Autonomous. In other words: in cyclic tracking
operation, AssistNow Autonomous will not interfere with the PSM (apart from the increased power
consumption).
Enabling the AssistNow Autonomous feature will lead to increased power consumption while
prediction is calculated. The main goal of PSM is to reduce the overall power consumption.
Therefore for each application special care must be taken to judge whether AssistNow
Autonomous is beneficial to the overall power consumption or not.

GPS.G7-SW-12001-B Public Release Page 26 of 196


11.2.4 Examples

11.2.4.1 Use Grid Offset


Scenario: Get a position fix once a day at a fixed time. If the position fix cannot be obtained try again every two
hours.
Solution: First set the update period to 24*3600s and the search period to 2*3600s. Now a position fix is
obtained every 24 hours and if the position fix fails retrials are scheduled in two hour intervals. As the update
grid is aligned to midnight Saturday/Sunday, the position fixes happen at midnight. By setting the grid offset to
12*3600s the position fixes are shifted to once a day at noon. If the position fix at noon fails, retrials take place
every two hours, the first at 14:00. Upon successfully acquiring a position fix the next fix attempt is scheduled
for noon the following day.

11.2.4.2 Use update periods of zero


Scenario: Get a position fix on request.
Solution: Set update and search period to zero. This way the receiver stays inactive until it is woken up.

11.3 Peak current settings


The peak current during acquisition can be reduced by activating the corresponding option in CFG-PM2. A
peak current reduction will result in longer start-up times of the receiver.

This setting is independent of the activated mode (Continuous or Power Save Mode).

11.4 Power On/Off command


With message RXM-PMREQ the receiver can be forced to enter Inactive state (in Continuous and Power Save
Mode). It will stay in Inactive state for the time specified in the message or until it is woken up by an EXTINT or
activity on the RXD1 line.
Sending the message RXM-PMREQ while the receiver is in Power Save Mode will overrule PSM and
force the receiver to enter Inactive state. It will stay in Inactive state until woken up. After wake-up
the receiver continues working in Power Save Mode as configured.

11.5 EXTINT pin control when Power Save Mode is not active
The receiver can be forced OFF also when Power Save Mode is not active. This works the same way as EXTINT
pin control in Power Save Mode. Just as in Power Save Mode, this feature has to be enabled and configured
using CFG-PM2.

11.6 Measurement and navigation rate with Power Save Mode


In Continuous Mode, measurement and navigation rate is configered using UBX-CFG-RATE. In Power Save
Mode however, measurement and navigation rate can differ from the configured rates as follows:
• Cyclic Operation: When in state Power Optimized Tracking, the measurement and navigation rate is
determined by the updatePeriod configured in CFG-PM2. The receiver can however switch to Tracking state
(e.g. to download data). When in Tracking state, the measurement and navigation rate is as configured with
UBX-CFG-RATE. Note: When the receiver is not able to produce position fixes anymore, it can switch from
Cyclic Operation to ON/OFF Operation (if this is not disabled with the doNotEnterOff switch in CFG-PM2). In
that case the remarks below are relevant.
• ON/OFF Operation: When in state Acquisition, the measurement and navigation rate is fixed to 2Hz. All
NMEA (an possibly UBX) messages that are output upon a navigation fix are also output with a rate of 2Hz.

GPS.G7-SW-12001-B Public Release Page 27 of 196


This must be considered when choosing the baud rate of a receiver that uses Power Save Mode! Note that a
receiver might stay in Acquisition state for quite some time (can be tens of seconds under weak signal
conditions). When the receiver eventually switches to Tracking state, the measurement and navigation rate
will be as configured with UBX-CFG-RATE.
When using Power Save Mode, the baudrate of the receiver must be choosen such that it can
handle the amount of data that is output when measurement and navigation rate is 2Hz.

12 Time pulse
There is only limited support for the generation of time pulses when running in GLONASS mode. In
particular the accuracy of the time pulse in GLONASS mode has not been calibrated.

12.1 Introduction
u-blox GNSS receivers include a time pulse function providing clock pulses with configurable duration and
frequency. The time pulse function can be configured using the CFG-TP5 message. The TIM-TP message
provides time information for the next pulse, time source and the quantization error of the output pin.

12.2 Recommendations
• For best time pulse performance it is recommended to disable the SBAS subsystem.
• When using time pulse for precision timing applications it is recommended to calibrate the RF signal delay
against a reference-timing source.
• Care needs to be given to the cable delay settings in the receiver configuration.
• In order to get the best timing accuracy with the antenna, a fixed and accurate position is needed.
• If relative time accuracy between multiple receivers is required, do not mix receivers of different product
families. If this is required, the receivers must be calibrated by accordingly setting cable delay and user delay.
• The recommended configuration when using the TIM-TP message is to set both the measurement rate (CF
G-RATE) and the time pulse frequency (CFG-TP5) to 1Hz.
Since the rate of TIM-TP is bound to the measurement rate, more than one TIM-TP message can
appear between two pulses if the measurement rate is set larger than the time pulse frequency. In
this case all TIM-TP messages in between a time pulse T1 and T2 belong to T2 and the last
TIM-TP before T2 reports the most accurate quantization error. In general, if the navigation
solution rate and time pulse rate are configured to different values, there will not be a single
GPS.G7-SW-12001-B Public Release Page 28 of 196
TIM-TP message for each time pulse.
The sequential order of the signal present at the TIMEPULSE pin and the respective output message for the
simple case of 1 pulse per second (1PPS) and a one second navigation update rate is shown in the following
figure.

12.3 Time pulse configuration


u-blox GNSS receivers provide one or two TIMEPULSE pins (dependant on product variant) delivering a time
pulse (TP) signal with a configurable pulse period, pulse length and polarity (rising or falling edge). Check the
product data sheet for detailed specification of configurable values.
It is possible to define different signal behavior (i.e. output frequency and pulse length) depending on whether
or not the receiver is locked to GPS time. Time pulse signals can be configured using the UBX proprietary
message CFG-TP5.

12.4 Configuring time pulse with UBX-CFG-TP5


The UBX message CFG-TP5 can be used to change the time pulse settings, and includes the following
parameters defining the pulse:
• time pulse index - Index of time pulse.
• antenna cable delay - Signal delay due to the cable between antenna and receiver.
• RF group delay - Signal delay in the RF module of the receiver (read-only).
• pulse frequency/period - Frequency or period time of the pulse.
• pulse frequency/period lock - Frequency or period time of the pulse, as soon as receiver has calculated a
valid time from a received signal. Only used if the according flag is set to use another setting in locked mode.
• pulse length/ratio - Length or duty cycle of the generated pulse, either specifies a time or ratio for the
pulse to be on/off.
• pulse length/ratio lock - Length or duty cycle of the generated pulse, as soon as receiver has calculated a
valid time from a received signal. Only used if the according flag is set to use another setting in locked mode.
• user delay - The cable delay from the receiver to the user device plus signal delay of any user application.
• active - time pulse will be active if this bit is set.
• lock to gps freq - Use frequency gained from GPS signal information rather than local oscillator's frequency
if flag is set.
• locked other setting - If this bit is set, as soon as the receiver can calculate a valid time, the alternative
setting is used. This mode can be used for example to disable time pulse if time is not locked, or indicate lock
with different duty cycles.

GPS.G7-SW-12001-B Public Release Page 29 of 196


• is frequency - Interpret the 'Frequency/Period' field as frequency rather than period if flag is set.
• is length - Interpret the 'Length/Ratio' field as length rather than ratio if flag is set.
• align to TOW - If this bit is set, pulses are aligned to the top of a second.
• polarity - If set, the first edge of the pulse is a rising edge (Pulse Mode: Rising).
• grid UTC/GPS - Selection between UTC (0) or GPS (1) timegrid. Also effects the time output by TIM-TP
message.

The maximum pulse length can't exceed the pulse period.

time pulse settings shall be chosen in such a way, that neither the high nor the low period of the
output is less than 50 ns (except when disabling it completely), otherwise pulses can be lost.

12.4.1 Example 1:
The example below shows the 1PPS TP signal generated on the time pulse output according to the specific
parameters of the CFG-TP5 message. The 1 Hz output is maintained whether or not the receiver is locked to
GPS time. The alignment to TOW can only be maintained when GPS time is locked.

GPS.G7-SW-12001-B Public Release Page 30 of 196


12.4.2 Example 2:
The following example shows a 10 MHz TP signal generated on the TIMEPULSE2 output when the receiver is
locked to GPS time. Without the lock to GPS time no frequency is output.

GPS.G7-SW-12001-B Public Release Page 31 of 196


13 Receiver Status Monitoring
Messages in the UBX class MON are used to report the status of the parts of the embedded computer system
that are not GNSS-specific.
The main purposes are
• Hardware and Software Versions, using MON-VER
• Status of the Communications Input/Output system
• Status of various Hardware Sections with MON-HW

13.1 Input/Output system


The I/O system is a GNSS-internal layer where all data input- and output capabilities (such as UART, DDC, SPI,
USB) of the GNSS receiver are combined. Each communications task has buffers assigned, where data is
queued. For data originating at the receiver, to be communicated over one or multiple communications
queues, the message MON-TXBUF can be used. This message shows the current and maximum buffer usage,

GPS.G7-SW-12001-B Public Release Page 32 of 196


as well as error conditions.
If the amount of data configured is too much for a certain port's bandwidth (e.g. all UBX messages
output on a UART port with a baud rate of 9600), the buffer will fill up. Once the buffer space is
exceeded, new messages to be sent will be dropped. For details see section Serial Communication
Ports Description
Inbound data to the GNSS receiver is placed in buffers. Usage of these buffers is shown with the message
MON-RXBUF. Further, as data is then decoded within the receiver (e.g. to separate UBX and NMEA data), the
MON-MSGPP can be used. This message shows (for each port and protocol) how many messages were
successfully received. It also shows (for each port) how many bytes were discarded because they were not in
any of the supported protocol framings.
The following table shows the port numbers used. Note that any numbers not listed are reserved for future use.
Port Number assignment
Port # Electrical Interface
0 DDC (I²C compatible)
1 UART 1
3 USB
4 SPI

Protocol numbers range from 0-7. All numbers not listed are reserved.
Protocol Number assignment
Protocol # Protocol Name
0 UBX Protocol
1 NMEA Protocol

13.2 Jamming/Interference Indicator


The field jamInd of the UBX-MON-HW message can be used as an indicator for continuous wave (narrowband)
jammers/interference only. The interpretation of the value depends on the application. It is necessary to run the
receiver in the application and then calibrate the 'not jammed' case. If the value rises significantly above this
threshold, this indicates that a continuous wave jammer is present.
This indicator is always enabled.

13.3 Jamming/Interference Monitor (ITFM)


The field jammingState of the MON-HW message can be used as an indicator for both broadband and
continuous wave (CW) jammers/interference. It is independent of the (CW only) jamming indicator described in
Jamming/Interference Indicator above.
This monitor reports whether jamming has been detected or suspected by the receiver. The receiver monitors
the background noise and looks for significant changes. Normally, with no interference detected, it will report
'OK'. If the receiver detects that the noise has risen above a preset threshold, the receiver reports 'Warning'. If
in addition, there is no current valid fix, the receiver reports 'Critical'.
The monitor has four states as shown in the following table:
Jamming/Interference monitor reported states
Value Reported state Description
0 Unknown Jamming/interference monitor not enabled, uninitialized or
antenna disconnected
1 OK no interference detected

GPS.G7-SW-12001-B Public Release Page 33 of 196


Jamming/Interference monitor reported states continued
Value Reported state Description
2 Warning position ok but interference is visible (above the thresholds)
3 Critical no reliable position fix and interference is visible (above the
thresholds); interference is probable reason why there is no fix

The monitor is disabled by default. The monitor is enabled by sending an appropriate UBX-CFG-ITFM
message with the enable bit set. In this message it is also possible to specify the thresholds at which
broadband and CW jamming are reported. These thresholds should be interpreted as the dB level above
'normal'. It is also possible to specify whether the receiver expects an active or passive antenna.
The monitor algorithm relies on comparing the currently measured spectrum with a reference from
when a good fix was obtained. Thus the monitor will only function when the receiver has had at
least one (good) first fix, and will report 'Unknown' before this time.

Jamming/Interference monitor is not supported in Power Save Mode (PSM) ON/OFF mode.

14 Timemark
The receiver can be used to provide an accurate measurement of the time at which a pulse was detected on
the external interrupt pin. The reference time can be chosen by setting the time source parameter to GPS, UTC
or local time in the UBX-CFG-TP5 configuration message (using flags LockGpsFreq and gridUtcGps). The delay
figures defined with UBX-CFG-TP5 are also applied to the results output in the UBX-TIM-TM2 message.
A UBX-TIM-TM2 message is output at the next epoch if
• the UBX-TIM-TM2 message is enabled
• a rising or falling edge was triggered since last epoch on one of the EXTINT channels
The UBX-TIM-TM2 messages include time of the last timemark, new rising/falling edge indicator, time source,
validity, number of marks and a quantization error. The timemark is triggered continuously.
Only the last rising and falling edge detected between two epochs is reported since the output rate
of the UBX-TIM-TM2 message corresponds to the measurement rate configured with
UBX-CFG-RATE (see Figure below).

GPS.G7-SW-12001-B Public Release Page 34 of 196


15 Aiding and Acquisition

15.1 Introduction
The UBX-AID message class provides the means for providing assistance data to u-blox GNSS receivers,
including AssistNow Online and AssistNow Offline.
There is currently limited support for aiding of any system other than GPS. Consequently most of
this section only applies to GPS operation.

15.2 Startup Strategies


• Cold start: In this startup mode, the receiver has no information about last position, time, velocity,
frequency etc. Therefore, the receiver has to search the full time- and frequency space, and also all possible
satellite numbers. If a satellite signal is found, it is being tracked to decode ephemeris (18-36 seconds under
strong signal conditions), whereas the other channels continue to search satellites. Once there are sufficient
number of satellites with valid ephemeris, the receiver can calculate position- and velocity data. Note that
some competitors call this startup mode Factory Startup.
• Warm start: In Warm start mode, the receiver has approximate information of time, position, and coarse
data on Satellite positions (Almanac). In this mode, after power-up, the receiver basically needs to download
ephemeris until it can calculate position- and velocity data. As the ephemeris data usually is outdated after 4
hours, the receiver will typically start with a warmstart if it was powered down for more than that amount of
time. For this scenario, several augmentations exist. See the sections on AssistNOW online and offline below.
• Hot start: In Hot start, the receiver was powered down only for a short time (4 hours or less), so that its
ephemeris is still valid. Since the receiver doesn't need to download ephemeris again, this is the fastest
startup method. In the UBX-CFG-RST message, one can force the receiver to reset and clear data, in order
to see the effects of maintaining/losing such data between restarts. For that, the UBX-CFG-RST message
GPS.G7-SW-12001-B Public Release Page 35 of 196
offers the navBbrMaskfield, where Hot, Warm and Cold starts can be initiated, and also other combinations
thereof.

15.3 Aiding / Assisted GPS (A-GPS)


The Challenge of Stand-alone GPS
Users expect instant position information. With standard GPS this is not always possible because at least four
satellites must transmit their precise orbital position data, called ephemeris, to the GPS receiver. Under adverse
signal conditions, data downloads from the satellites to the receiver can take minutes, hours or even fail
altogether.
Assisted GPS (A-GPS) boosts acquisition performance by providing data such as ephemeris, almanac, accurate
time and satellite status to the GPS receiver via mobile networks or the Internet. The aiding data enables the
receiver to compute a position within seconds, even under poor signal conditions.

15.4 Aiding Data


The following aiding data can be submitted to the receiver:
• Position: Position information can be submitted to the receiver using the UBX-AID-INI message. Both,
ECEF X/Y/Z and latitude/longitude/height formats are supported.
• Time: The time can either be supplied as an inexact value via the standard communication interfaces,
suffering from latency depending on the baud rate, or using hardware time synchronization where an
accurate time pulse is connected to an external interrupt. Both methods are supported in the UBX-AID-INI
message.
• Frequency: It is possible to supply hardware frequency aiding by connecting a periodic rectangular signal
with a frequency up to 500 kHz and arbitrary duty cycle (low/high phase duration must not be shorter than
50 ns) to an external interrupt, and providing the applied frequency value using the UBX-AID-INI
message.
• Orbit data: Orbit data can be submitted using UBX-AID-ALM and UBX-AID-EPH.
• Additional information: UBX-AID-HUI can be used to supply health information, UTC parameters and
ionospheric data to the receiver.

15.5 Aiding Sequence


A typical aiding sequence comprises the following steps:
• Power-up the GNSS receiver
• Send UBX-AID-INI (time, clock and position) message.
• Send UBX-AID-EPH (ephemeris) message.
• Apply optional hardware time synchronization pulse within 0.5 s after (or before, depending on the
configuration in UBX-AID-INI) sending the UBX-AID-INI message if hardware time synchronization is
required. When sending the message before applying the pulse, make sure to allow the GNSS receiver to
parse and process the aiding message. The time for parsing depends on the baud rate. The processing time
is 100 ms maximum.
• Send optional UBX-AID-HUI (health, UTC and ionosphere parameters) message.
• Send optional UBX-AID-ALM (almanac) message.

GPS.G7-SW-12001-B Public Release Page 36 of 196


15.6 AssistNow Online
AssistNow Online is u-blox' end-to-end Assisted GPS (A-GPS) solution that boosts GPS acquisition performance,
bringing Time To First Fix (TTFF) down to seconds. The system works by accessing assistance data such as
ephemeris, almanac and accurate time from our Global Reference Network of GNSS receivers placed around
the globe. With A-GPS, the receiver can acquire satellites and provide accurate position data instantly on
demand, even under poor signal conditions.
AssistNow Online makes use of User Plane communication and open standards such as TCP/IP. Therefore, it
works on all standard mobile communication networks that support Internet access, including GPRS, UMTS and
Wireless LAN. No special arrangements need to be made with mobile network operators to enable AssistNow
Online.

In terms of the messages AssistNow Online consists of Aiding data which deliver Position and Time
UBX-AID-INI, Ephemerides UBX-AID-EPH, Almanac UBX-AID-ALM and Health/UTC/Iono information
UBX-AID-HUI
AssistNow Online is the only form of aiding that currently supports GLONASS operation. Even so,
GLONASS orbit data (ephemeris or almanac) it not currently supported.

15.7 AssistNow Offline


AssistNow Offline is an A-GPS service that boosts GPS acquisition performance, bringing Time To First Fix (TTFF)
down to seconds. Unlike AssistNow Online, this solution enables instant positioning without the need for
connectivity at start-up. The system works by using AlmanacPlus (ALP) differential almanac correction data to
speed up acquisition, enabling a position fix within seconds. Users access the data by means of occasional
Internet downloads, at the user's convenience.

GPS.G7-SW-12001-B Public Release Page 37 of 196


u-blox provides AlmanacPlus (ALP) data files in different sizes, which contain differential almanac corrections
that are valid for a period of between 1 and 14 days thereafter. Users can download correction data anytime
they have an Internet connection. The GNSS receiver stores the downloaded data in the non-volatile memory.
As an alternative, a host CPU may store the file, but deliver the data in pieces when requested.
AssistNow Offline works in locations without any wireless connectivity as the correction data files reside in the
receiver or the host. This makes them immediately available upon start-up, eliminating connection set-up
delays, download waiting times and call charges.
The simplest set-up is for GNSS receivers including internal non-volatile memory or an external flash memory
where ALP data can be stored. In this case, the UBX-AID-ALP message is used.
When the receiver has neither suitable internal memory nor an external flash memory, the ALP file must be
stored to the host CPU. The receiver can then request data from the host when needed. This arrangement is
implemented using the UBX-AID-ALPSRV message.
In both cases, status reporting on ALP data currently available to the receiver can be taken from message
UBX-AID-ALP (STAT).
AssistNow Offline data are published at http://alp.u-blox.com/.

15.7.1 Flash-based AlmanacPlus Overview


Flash-based AlmanacPlus functionality means that AlmanacPlus data is stored in the program flash memory
connected to the chip.
The task of a server is simply to download the data from an Internet server or other sources, and then deliver
the full file piece by piece to the GNSS receiver. This is different to the method described in UBX-AID-ALPSRV
where the file would remain within the host and the GNSS receiver would request chunks from that file when
needed.
The message AID-ALP exists in several variants, combining all functionality needed to download data and report
status within one Class/Message ID.
AlmanacPlus data stored in flash memory is not affected by any reset of the receiver. The only
simple ways to clear it are to completely erase the whole flash memory or to overwrite it with a
new set of AlmanacPlus data.

15.7.1.1 Download Procedure


The following steps are a typical sequence for downloading an ALP file to the receiver:
• The server downloads a copy of a current ALP file, and stores it locally

GPS.G7-SW-12001-B Public Release Page 38 of 196


• It sends the first N bytes from that file, using the AID-ALP (TX) message
• The server awaits a AID-ALP (ACK) or AID-ALP (NAK) message
• If can then continue, sending the next N bytes if the message was acknowledged
• Once all data has been transferred, or a NAK has been received, the server sends an AID-ALP (STOP)
message
Note that:
• N should not be larger than ~700 bytes (due to the input buffers on the RS232/USB lines). Smaller values of
N might improve reliability
• N must be a multiple of 2
• There is no re-send mechanism; if a NAK message is received, the full downloading process must be
restarted
• There is no explicit checksum, but an implicit one, as the ALP file already includes a checksum to verify
consistency
Overview of the different versions of AID-ALP messages
Short Name Content Direction
AID-ALP (TX) ALP server sends data to client Server -> Client
AID-ALP ALP server terminates a transfer sequence Server -> Client
(STOP)
AID-ALP (ACK) ALP client acknowledges successful receipt of data. Client -> Server
AID-ALP (NAK) ALP client indicates a failed reception of data Client -> Server
AID-ALP ALP client reports status of the ALP data stored in flash memory Client -> Server
(STAT)

15.7.2 Host-based AlmanacPlus Overview


All three versions of AID-ALPSRV messages are used for the case where the storage of an ALP file is not within
the receiver's flash memory, but on the host, and where the host needs to repeatedly deliver data to the GNSS
receiver. This allows support of the AlmanacPlus functionality for GNSS receivers which do not have flash
memory. For messaging details of an implementation where the data is to reside in the receiver's flash memory,
see Flash-based AlmanacPlus Overview
In the following, the GNSS receiver is called the client, as it primarily requests data, and the host CPU where
the ALP file is located in its entirety is called the server.
The operation is such that the client sends periodic data requests (the ALP client requests ALPSRV-REQ ) to the
host, and the host should answer them accordingly, as described below at ALPSRV-SRV
For this mechanism to work, the AID-ALPSRV message needs to be activated using the normal
CFG-MSG commands. If it is not activated, no requests are sent out.
The client may attempt to modify the data which is stored on the server, using the ALPSRV-CLI message. The
server can safely ignore such a request, in case the ALP file cannot be modified. However, for improved
performance for consecutive receiver restarts, it is recommended to modify the data.
Overview of the three versions of AID-ALPSRV messages
Short Name Content Direction
ALPSRV-REQ ALP client requests AlmanacPlus data from server Client -> Server
ALPSRV-SRV ALP server sends AlmanacPlus data to client Server -> Client
ALPSRV-CLI ALP client sends AlmanacPlus data to server. Client -> Server

GPS.G7-SW-12001-B Public Release Page 39 of 196


15.7.3 Message specifics
The three variants of this message always have a header and variable-size data appended within the same
message. The first field, idSize gives the number of bytes where the header within the UBX payload ends and
data starts.
In case of the ALP client request, the server must assemble a new message according to the
AID-ALPSRV-SRV variant. The header needs to be duplicated for as many as idSize bytes. Additionally, the
server needs to fill in the fileId and dataSize fields. Appended to the idSize-sized header, data must be
added as requested by the client (from offset ofs, for size number of values).

15.7.3.1 Range checks


The server needs to perform an out-of-bounds check on the ofs (offsets) and size fields, as the client may
request data beyond the actually available data. If the client request is within the bounds of available data, the
dataSize field needs to be filled in with 2 x the content of the size field (the size field is in units of 16 bits,
whereas the dataSize field expects number of bytes). If the client request would request data beyond the
limits of the buffer, the data should be reduced accordingly, and this actual number of bytes sent shall be
indicated in the dataSize field.

15.7.3.2 Changing ALP files


The server function periodically attempts to receive new ALP data from an upstream server, as the result of an
HTTP request or other means of file transfer.
In case a new file becomes available, the server shall indicate this to the client. This is the function of the
fileId field.
The server should number ALP files it serves arbitrarily. The only requirement is that the fileId actually is
changed when a new file is being served, and that it does not change as long as the same file is being
changed.
If the client, as a result of a client request, receives a fileId different from the one in earlier requests' replies,
it will reinitialize the ALP engine and request data anew.
Further, if the client attempts to send data to the server, using the ALPSRV-CLI method, it indicates, which
fileId needs to be written. The server shall ignore that request in case the fileId numbers do not match.

15.7.3.3 Sample Code


u-blox makes available sample code, written in C language, showing a server implementation, serving ALP data
from its file system to a client. Please contact your nearest u-blox Field Application Engineer to receive a copy.

15.8 AssistNow Autonomous

15.8.1 Introduction
The assistance scenarios covered by AssistNow Online and AssistNow Offline require an online connection and
a host that can use this connection to download aiding data and provide this to the receiver when required.
The AssistNow Autonomous feature provides a functionality similar to AssistNow Offline without the need for a
host and a connection. Based on a broadcast ephemeris downloaded from the satellite (or obtained by
AssistNow Online) the receiver can autonomously (i.e. without any host interaction or online connection)
generate an accurate satellite orbit representation («AssistNow Autonomous data») that is usable for
navigation much longer than the underlying broadcast ephemeris was intended for. This makes downloading
new ephemeris or aiding data for the first fix unnecessary for subsequent start-ups of the receiver.
The AssistNow Autonomous feature is disabled by default. It can be enabled using the
UBX-CFG-NAVX5 message.
GPS.G7-SW-12001-B Public Release Page 40 of 196
15.8.2 Concept
The figure below illustrates the AssistNow Autonomous concept in a graphical way. Note that the figure is a
qualitative illustration and is not to scale.
• A broadcast ephemeris downloaded from the satellite is a precise representation of a part (nominally four
hours) of the satellite's true orbit (trajectory). It is not usable for positioning beyond this validity period
because it diverges dramatically from the true orbit afterwards.
• The AssistNow Autonomous orbit is an extension of a broadcast ephemeris. It provides a long-term orbit for
the satellite for several revolutions. Although this orbit is not perfectly precise it is a sufficiently accurate
representation of the true orbit to be used for navigation.
• The AssistNow Autonomous data is automatically and autonomously generated from downloaded (or
assisted) ephemerides. The data is stored automatically in the on-chip battery-backed memory. Optionally,
the data can be backed-up in external flash memory or on the host. The number of satellites for which data
can be stored depends on the receiver configuration and may change during operation.
• If no broadcast ephemeris is available for navigation AssistNow Autonomous automatically generates the
required parts of the orbits suitable for navigation from the stored data. The data is also automatically kept
current in order to minimize the calculation time once the navigation engine needs orbits.
• The operation of the AssistNow Autonomous feature is transparent to the user and the operation of the
receiver. All calculations are done in background and do not affect the normal operation of the receiver.
• The AssistNow Autonomous subsystem automatically invalidates data that has become too old and that
would introduce unacceptable positioning errors. This threshold is configurable (see below).
• The AssistNow Autonomous can automatically improve the prediction quality if the receiver can download a
broadcast ephemeris of a previously seen satellite 24 hours later.

GPS.G7-SW-12001-B Public Release Page 41 of 196


15.8.3 Interface
Several UBX protocol messages provide interfaces to the AssistNow Autonomous feature. They are:
• The UBX-CFG-NAVX5 message is used to enable or disable the AssistNow Autonomous feature. It is
disabled by default. Once enabled, the receiver will automatically produce AssistNow Autonomous data for
newly received broadcast ephemerides and, if that data is available, automatically provide the navigation
subsystem with orbits when necessary and adequate. The message also allows for a configuration of the
maximum acceptable orbit error. See the next section for an explanation of this feature. It is recommended
to use the firmware default value that corresponds to an orbit data validity of approximately three days.
• The UBX-NAV-AOPSTATUS message provides information on the current state of the AssistNow
Autonomous subsystem as well as on the availability of AssistNow Autonomous data for individual GPS
satellites. The status indicates whether the AssistNow Autonomous subsystem is currently idle (or not
enabled) or busy generating data or orbits. Hosts should monitor this information and only power-off the
receiver when the subsystem is idle (that is, when the status field shows a steady zero).
• The UBX-NAV-SVINFO message indicates the use of AssistNow Autonomous orbits for individual satellites.
Two means to preserve AssistNow Autonomous data in power-off mode where no battery backup is available
are provided:
• Saving all data (including configuration, orbits, etc.) to flash where available.
• Polling all required data and configuration from the receiver and saving it on the host and store it back to
the receiver on startup.. This can be achieved using the UBX-AID-AOP (required AssistNow Autonomous
data), UBX-AID-ALM (almanac, recommended for best performance), and UBX-AID-HUI (required UTC
time information) messages. Note that the UBX-AID-AOP message can contain additional (optional) data
that is not stored in the battery backup RAM due to space limitations. This additional data helps the receiver
to carry out some calculations faster than without it. It does not, however, affect the orbit quality. Hence,
the optional data may be stripped from the message payload if, for example, host storage capacity is limited.
Sending (a) valid UBX-AID-AOP message(s), to the receiver will automatically enable the AssistNow
Autonomous feature. Furthermore, it is recommended to use high baud rates on serial interfaces when
polling and sending this message due to its relatively large size.
Note that the receiver requires the absolute time (i.e. full Date and Time) to calculate AssistNow Autonomous
orbits. For best performance it is, therefore, recommended to supply this information to the receiver using the
UBX-AID-INI message in a scenario without a running RTC (i.e. without backup battery).

15.8.4 Benefits and Drawbacks


AssistNow Autonomous can provide quicker start-up times (lower the TTFF) provided that data is available for
enough visible satellites. This is particularly true under weak signal conditions where it might not be possible to
download broadcast ephemerides at all, and, therefore, no fix at all would be possible without AssistNow
Autonomous (or A-GPS). It is, however, required that the receiver roughly know the absolute time, either from
an RTC or from time-aiding using the UBX-AID-INI message, and that it knows which satellites are visible,
either from the almanac or from tracking the respective signals.
The AssistNow Autonomous orbit (satellite position) accuracy depends on various factors, such as the particular
type of satellite, the accuracy of the underlying broadcast ephemeris, or the orbital phase of the satellite and
Earth, and the age of the data (errors add up over time).
AssistNow Autonomous will typically extend a broadcast ephemeris for up to three days. The UBX-CFG-NAVX5
(see above) message allows to change this threshold by setting the «maximum acceptable modelled orbit
error» (in meters). Note that this number does not reflect the true orbit error introduced by extending the
ephemeris. It is a statistical value that represents a certain expected upper limit based on a number of
parameters. A rough approximation that relates the maximum extension time to this setting is: maxError [m] =

GPS.G7-SW-12001-B Public Release Page 42 of 196


maxAge [d] * f, where the factor f is 30 for data derived from satellites seen once and and 17 for data derived
for satellites seen more than once.
There is no direct relation between (true and statistical) orbit accuracy and positioning accuracy. The positioning
accuracy depends on various factors, such as the satellite position accuracy, the number of visible satellites, and
the geometry (DOP) of the visible satellits. Position fixes that include AssistNow Autonomous orbit information
may be significantly worse than fixes using only broadcast ephemerides. It might be necessary to adjust the
limits of the Navigation Output Filters.
A fundamental deficiency of any system to predict satellite orbits precisely is unknown future events. Hence,
the receiver will not be able to know about satellites that will have become unhealthy, have undergone a clock
swap, or have had a manoeuvre. This means that the navigation engine might rarely mistake a wrong satellite
position as the true satellite position. However, provided that there are enough other good satellites, the
navigation algorithms will eventually eliminate a defective orbit from the navigation solution.
The repeatability of the GPS satellite constellation is a potential pitfall for the use of the AssistNow
Autonomous feature. For a given location on Earth the constellation (geometry of visible satellites) repeats
every 24 hours. Hence, when the receiver «learned» about a number of satellites at some point in time the
same satellites will in most places not be visible 12 hours later, and the available AssistNow Autonomous data
will not be of any help. Again 12 hours later, however, usable data would be available because it had been
generated 24 hours ago.
The longer a receiver observes the sky the more satellites it will have seen. At the equator, and with full sky
view, approximately ten satellites will show up in a one hour window. After four hours of observation approx.
16 satellites (i.e. half the constellation), after 10 hours approx. 24 satellites (2/3rd of the constellation), and
after approx. 16 hours the full constellation will have been observed (and AssistNow Autonomous data
generated for). Lower sky visibility reduces these figures. Further away from the equator the numbers improve
because the satellites can be seen twice a day. E.g. at 47 degrees north the full constellation can be observed in
approx. 12 hours with full sky view.
The calculations required for AssistNow Autonomous are carried out on the receiver. This requires energy and
users may therefore occasionally see increased power consumption during short periods (several seconds, rarely
more than 60 seconds) when such calculations are running. Ongoing calculations will automatically prevent the
power save mode from entering the power-off state. The power-down will be delayed until all calculations are
done.
The AssistNow Offline and AssistNow Autonomous features are exclusive and must not be used at
the same time.

16 Precise Point Positioning


This feature is only available with the PPP product variant

16.1 Introduction
Precise Point Positioning (PPP) is a product variant which offers enhanced positioning accuracy by utilizing the
carrier phase measurements to smooth the pseudoranges measured to the satellites. The algorithm needs
continuous carrier phase measurements to be able to smooth the pseudorange measurements effectively.
Additionally ionospheric corrections like those received from SBAS or from GPS are required. A positioning
improvement can only be expected in an environment with unobstructed sky view during a period on the order
of minutes.
The PPP algorithm works for GPS satellites only and SBAS corrections are required to provide
enhanced positioning accuracy.

GPS.G7-SW-12001-B Public Release Page 43 of 196


16.2 Configuration
In order to use the Precise Point Positioning algorithm, PPP must be enabled/disabled by setting the appropriate
flag in UBX-CFG-NAVX5.
PPP can only be activated on Precise Point Positioning product variants, where it is activated by
default.
While valid RTCM corrections are provided to the receiver, the Precise Point Positioning algorithm will not
operate. The Precise Point Positioning algorithm will restart after the last valid RTCM correction has expired.

16.3 Monitoring
The message UBX-NAV-SVINFO indicates for each satellite in use whether or not the pseudorange has been
smoothed by the PPP algorithm.

17 Logging

17.1 Introduction
The logging feature allows position fixes and arbitrary byte strings from the host to be logged in flash memory
attached to the receiver. Logging of position fixes happens independently of the host system, and can continue
while the host is powered down.
The following tables list all the logging related messages:
Logging control and configuration messages
Message Description
UBX-LOG-CREATE Creates a log file and activates the logging subsystem
UBX-LOG-ERASE Erases a log file and deactivates the logging subsystem
UBX-CFG-LOGFILTER Used to start/stop recording and set/get the logging configuration
UBX-LOG-INFO Provides information about the logging system
UBX-LOG-STRING Enables a host process to write a string of bytes to the log file

Logging retrieval messages


Message Description
UBX-LOG-RETRIEVE Starts the log retrieval process
UBX-LOG-RETRIEVEPOS A position log entry returned by the reciever
UBX-LOG-RETRIEVESTRING A byte string log entry returned by the reciever
UBX-LOG-FINDTIME Finds the index of the first entry <= given time

17.2 Setting the logging system up


An empty log can be created using the UBX-LOG-CREATE message and a log can be deleted with the
UBX-LOG-ERASE message. The logging system will only be running if a log is in existence, so most logging
messages will be rejected with an UBX-ACK-NAK message if there is no log present. Only one log can be
created at any one time so an UBX-ACK-NAK message will be returned if a log already exists. The message
specifies the maximum size of the log in bytes (with some pre-set values provided). Both the logging subsystem
and the receiver filestore have implementation overheads, so total space available for log entries will be
somewhat smaller than the size specified.
UBX-LOG-CREATE also allows the log to be specified as a circular log. If the log is circular, then when it fills
up, a set of older log entries will be deleted and the space freed up used for new log entries. By contrast, if a
non-circular log becomes full then new entries which don't fit will be rejected. UBX-LOG-CREATE also causes
the logging system to start up so that further logging messages can be processed. The logging system will start
GPS.G7-SW-12001-B Public Release Page 44 of 196
up automatically on power-up if there is a log in existence. The log will remain in the receiver until specifically
erased using the UBX-LOG-ERASE message.
UBX-CFG-LOGFILTER controls whether logging of entries is currently enabled and selects position fix
messages for logging. These configuration settings will be saved if the configuration is saved to flash. If this is
done, then entry logging will continue on power-up in the same manner that it did before power-down.
The top level active/inactive states of the logging subsystem.

17.3 Information about the log


The receiver can be polled for a UBX-LOG-INFO message which will give information about the log. This will
include the maximum size that the log can grow to (which, due to overheads, will be smaller than that
requested in UBX-LOG-CREATE) and the amount of log space currently occupied. It will also report the
number of entries currently in the log together with the time and date of the newest and oldest messages
which have a valid timestamp.
Log entries are compressed and have housekeeping information associated with them, so the actual space
occupied by log messages may be difficult to predict. The minimum size for a position fix entry is 9 bytes and
the maximum 24 bytes, the typical size is 10 or 11 bytes.
Each log also has a fixed overhead which is dependent on the log type. The approximate size of this overhead is
shown in the following table.
Log overhead size
Log type Overhead
circular Up to 40 kB
non-circular Up to 8 kB

The number of entries that can be logged in any given flash size can be estimated as follows:
Approx. number of entries = (flash size available for logging - log
overhead)/typical entry size
For example, if 1500 kB of flash is available for logging (after other flash usage such as the firmware image is
taken into account) a non-circular log would be able to contain approximately 139000 entries
((1500*1024)-(8*1024))/11 = 138891.

17.4 Recording
The UBX-CFG-LOGFILTER message specifies the conditions under which entries are recorded. Nothing will be
recorded if recording is disabled, otherwise position fix and UBX-LOG-STRING entries can be recorded. When
recording is enabled an entry will also be created from each UBX-LOG-STRING message. These will be
timestamped if the receiver has current knowledge of time.
The UBX-CFG-LOGFILTER message has several values which can be used to select position fix entries for
logging. If all of these values are zero, then all position fixes will be logged (subject to a maximum rate of 1Hz).
A position is logged if any of the thresholds are exceeded. If a threshold is set to zero it is ignored. In addition
GPS.G7-SW-12001-B Public Release Page 45 of 196
the position difference and current speed thresholds also have a minimum time threshold.
Position fixes are only recorded if a valid fix is obtained - failed and invalid fixes are not recorded.
Position fixes are compressed to economise on the amount of flash space used. In order to improve the
compression, the fix values are rounded to improve their compression. This means that the values returned by
the logging system may differ slightly from any which are gathered in real time.
In On/Off Power Save Mode it is possible to configure the logging system so that only one fix is recorded for
each on period. This will be recorded immediately before the receiver powers off and will be the best fix seen
during the on period (in this case, "best" is defined as being the fix with the lowest horizontal accuracy figure).
The recorded data for a fix comprises :
• The time and date of the fix recorded to a precision of one second
• Latitude and longitude to a precision of one millionth of a degree. Depending on position on Earth this is a
precision in the order of 0.1m
• Altitude (height above mean sea level) to a precision of 1m
• Ground speed to a precision of 1cm/s
• The fix type (only successful fix types, since these are the only ones recorded)
• The number of satellites used in the fix is recorded, but no value greater than 19 is logged; a value of 19
means 19 or more satellites
• A horizontal accuracy estimate is recorded to give an indication of fix quality
• Heading to a precision of one degree
The states of the active logging subsystem

17.5 Retrieval
UBX-LOG-RETRIEVE starts the process which allows the receiver to output log entries. Log recording must be
stopped using UBX-CFG-LOGFILTER before this can be done. UBX-LOG-INFO may be helpful to a host
system in order to understand the current log status before retrieval is started.
Once retrieval has started, one message will be output from the receiver for each log entry requested. Sending
any logging message to the receiver during retrieval will cause the retrieval to stop before the message is
processed.

GPS.G7-SW-12001-B Public Release Page 46 of 196


To maximise the speed of transfer it is recommended that a high communications data rate is used and GNSS
processing is stopped during the transfer (see UBX-CFG-RST)
UBX-LOG-RETRIEVE can specify a start-entry index and entry-count. The maximum number of entries that
can be returned in response to a single UBX-LOG-RETRIEVE message is 256. If more entries than this are
required the message will need to be sent multiple times with different startEntry indicies.
The receiver will send a UBX-LOG-RETRIEVEPOS message for each position fix log entry and a
UBX-LOG-RETRIEVESTRING message for each string log entry. Messages will be sent in the order in which
they were logged, so UBX-LOG-RETRIEVEPOS and UBX-LOG-RETRIEVESTRING messages may be
interspersed in the message stream.
The UBX-LOG-FINDTIME message can be used to search a log for the index of the first entry less than or
equal to the given time. This index can then be used with the UBX-LOG-RETRIEVE message to provide
time-based retrieval of log entries.

17.6 Command message acknowledgement


Some log operations make take a long time to execute because of the time taken to write to flash memory.
The time for some operations may be unpredictable since the number and timing of flash operations may vary.
In order to allow host software to synchronise to these delays logging messages will always produce a
response. This will be UBX-ACK-NAK in case of error, otherwise UBX-ACK-ACK unless there is some other
defined response to the message.
It is possible to send a small number of logging commands without waiting for acknowledgement, since there
is a command queue, but this risks confusion between the acknowledgements for the commands. Also a
command queue overflow would result in commands being lost.

GPS.G7-SW-12001-B Public Release Page 47 of 196


NMEA Protocol
18 Protocol Overview
NMEA messages sent by the GNSS receiver are based on NMEA 0183 Version 2.3. The following picture shows
the structure of a NMEA protocol message.

For further information on the NMEA Standard please refer to NMEA 0183 Standard For Interfacing Marine
Electronic Devices, Version 2.30, March 1, 1998. See http://www.nmea.org/ for ordering instructions.
The NMEA standard allows for proprietary, manufacturer-specific messages to be added. These shall be marked
with a manufacturer mnemonic. The mnemonic assigned to u-blox is UBX and is used for all non-standard
messages. These proprietary NMEA messages therefore have the address field set to PUBX. The first data field
in a PUBX message identifies the message number with two digits.

19 NMEA Protocol Configuration


The NMEA protocol on u-blox receivers can be configured to the need of customer applications using
CFG-NMEA.
There are two NMEA standards supported. The default NMEA version is 2.3. Alternatively version 2.1 can be
enabled (for details on how this affects the output refer to section Position Fix Flags in NMEA Mode).
The NMEA standard differentiates between GPS, GLONASS, and combined GNSS receivers using a two-letter
message identifier, the 'Talker ID'. Depending upon device model and system configuration, the u-blox receiver
could output messages using any one of these Talker IDs.
By default, receivers configured to support GPS, SBAS and QZSS use the 'GP' Talker ID, receivers configured to
support GLONASS use the 'GL' Talker Id, and receivers configured for any other GNSS or any other
combinations of GNSS use the 'GN' Talker ID
NMEA defines a satellite numbering system for GPS, SBAS, and GLONASS. Satellite numbers for other GNSS
can be configured using CFG-NMEA. Unknown satellite numbers are always reported as a null NMEA field (i.e.

GPS.G7-SW-12001-B Public Release Page 48 of 196


an empty string)
The NMEA specification indicates that the GGA message is GPS specific. However, u-blox recievers support the
output of a GGA message for each of the Talker IDs.
NMEA filtering flags
Parameter Description
Position filtering Enable to permit positions from failed or invalid fixes to be reported (with the "V"
status flag to indicate that the data is not valid).
Valid position filtering Enable to permit positions from invalid fixes to be reported (with the "V" status flag to
indicate that the data is not valid).
Time filtering Enable to permit the receiver's best knowledge of time to be output, even though it
might be wrong.
Date filtering Enable to permit the receiver's best knowledge of date to be output, even though it
might be wrong.
GPS-only filtering Enable to restrict output to only report GPS satellites.
Track filtering Enable to permit course over ground (COG) to be reported even when it would
otherwise be frozen.

NMEA flags
Parameter Description
Compatibility Mode Some older NMEA applications expect the NMEA output to be formatted in a specific
way, for example, they will only work if the latitude and longitude have exactly four
digits behind the decimal point. u-blox receivers offer a compatibility mode to support
these legacy applications.
Consideration Mode u-blox receivers use a sophisticated signal quality detection scheme, in order to produce
the best possible position output. This algorithm considers all SV measurements, and
may eventually decide to only use a subset thereof, if it improves the overall position
accuracy. If Consideration mode is enabled, all satellites, which were considered for
navigation, are communicated as being used for the position determination. If
Consideration Mode is disabled, only those satellites which after the consideration step
remained in the position output are marked as being used.

Extended configuration
Option Description
GNSS to filter Filters satellites based on their GNSS
Satellite numbering This field configures the display of satellites that do not have an NMEA-defined value.
Note: this does not apply to satellites with an unknown ID.
Main Talker ID By default the main Talker ID (i.e. the Talker ID used for all messages other than GSV) is
determined by the GNSS assignment of the receiver's channels (see UBX-CFG-GNSS).
This field enables the main Talker ID to be overridden.
GSV Talker ID By default the Talker ID for GSV messages is GNSS specific (as defined by NMEA). This
field enables the GSV Talker ID to be overridden.

20 Latitude and Longitude Format


According to the NMEA Standard, Latitude and Longitude are output in the format Degrees, Minutes and
(Decimal) Fractions of Minutes. To convert to Degrees and Fractions of Degrees, or Degrees, Minutes, Seconds
and Fractions of seconds, the 'Minutes' and 'Fractional Minutes' parts need to be converted. In other words: If
the GPS Receiver reports a Latitude of 4717.112671 North and Longitude of 00833.914843 East, this is

GPS.G7-SW-12001-B Public Release Page 49 of 196


Latitude 47 Degrees, 17.112671 Minutes
Longitude 8 Degrees, 33.914843 Minutes
or
Latitude 47 Degrees, 17 Minutes, 6.76026 Seconds
Longitude 8 Degrees, 33 Minutes, 54.89058 Seconds
or
Latitude 47.28521118 Degrees
Longitude 8.56524738 Degrees

21 Position Fix Flags in NMEA


This section shows how u-blox implements the NMEA protocol and the conditions determining how flags are
set.
Flags in NMEA 2.3 and above
NMEA Message: Field No position fix GNSS fix, but Dead Dead reckoning 2D GNSS 3D GNSS Combined
(at power-up, user limits reckoning fix, fix (ADR with fix fix GNSS/dead
after losing exceeded but user limits external sensors, reckoning fix
satellite lock) exceeded linear (ADR with
extrapolation, or external
map matching) sensors)
GLL, RMC: status V V V A A A A
V=Data Invalid, A=Data Valid
GGA: quality 0 0 6 6 1/2 1/2 1/2
0=No Fix, 1=Autonomous GNSS Fix, 2=Differential GNSS Fix, 6=Estimated/Dead Reckoning Fix
GSA: navMode 1 1 2 2 2 3 3
1=No Fix, 2=2D Fix, 3=3D Fix
GLL, RMC, VTG, GNS: posMode N N E E A/D A/D A/D
N=No Fix, E=Estimated/Dead Reckoning Fix, A=Autonomous GNSS Fix, D=Differential GNSS Fix

Flags in NMEA 2.1 and below


The flags in NMEA 2.1 and below are the same as NMEA 2.3 and above but with the following differences:
• The posMode field is not output for GLL, RMC and VTG messages (each message has one field less).
• The GGA quality field is set to 1 (instead of 6) For both types of dead reckoning fix.

22 Ouput of invalid/unknown data


By default the receiver will not output invalid data. In such cases, it will output empty fields.
A valid position fix is reported as follows:
$GPGLL,4717.11634,N,00833.91297,E,124923.00,A,A*6E
An invalid position fix (but time valid) is reported as follows:
$GPGLL,,,,,124924.00,V,N*42
If Time is unknown (e.g. during a cold-start):
$GPGLL,,,,,,V,N*64
Please note:
An exception from the above default are dead reckoning fixes, which are also output when invalid
(user limits exceeded).
GPS.G7-SW-12001-B Public Release Page 50 of 196
Output of invalid data marked with the 'Invalid/Valid' Flags can be enabled using the UBX protocol
message CFG-NMEA.
Differing from the NMEA standard, u-blox reports valid dead reckoning fixes with user limits met
(not exceeded) as valid (A) instead of invalid (V).

23 NMEA Messages Overview


When configuring NMEA messages using the UBX protocol message CFG-MSG, the Class/Ids shown in the
table shall be used.
Page Mnemonic Cls/ID Description
NMEA Standard Messages Standard Messages

52 DTM 0xF0 0x0A Datum Reference

53 GBS 0xF0 0x09 GNSS Satellite Fault Detection

54 GGA 0xF0 0x00 Global positioning system fix data

55 GLL 0xF0 0x01 Latitude and longitude, with time of position fix and status

56 GLQ 0xF0 0x43 Poll a standard message (if the current Talker ID is GL)

56 GNQ 0xF0 0x42 Poll a standard message (if the current Talker ID is GN)

57 GNS 0xF0 0x0D GNSS fix data

58 GPQ 0xF0 0x40 Poll a standard message (if the current Talker ID is GP)

58 GRS 0xF0 0x06 GNSS Range Residuals

59 GSA 0xF0 0x02 GNSS DOP and Active Satellites

60 GST 0xF0 0x07 GNSS Pseudo Range Error Statistics

61 GSV 0xF0 0x03 GNSS Satellites in View

62 RMC 0xF0 0x04 Recommended Minimum data

63 TXT 0xF0 0x41 Text Transmission

64 VTG 0xF0 0x05 Course over ground and Ground speed

65 ZDA 0xF0 0x08 Time and Date

NMEA PUBX Messages Proprietary Messages

66 CONFIG 0xF1 0x41 Set Protocols and Baudrate

67 POSITION 0xF1 0x00 Poll a PUBX,00 message

67 POSITION 0xF1 0x00 Lat/Long Position Data

69 RATE 0xF1 0x40 Set NMEA message output rate

70 SVSTATUS 0xF1 0x03 Poll a PUBX,03 message

70 SVSTATUS 0xF1 0x03 Satellite Status

71 TIME 0xF1 0x04 Poll a PUBX,04 message

72 TIME 0xF1 0x04 Time of Day and Clock Information

GPS.G7-SW-12001-B Public Release Page 51 of 196


24 Standard Messages
Standard Messages: i.e. Messages as defined in the NMEA Standard.

24.1 DTM
24.1.1 Datum Reference
Message DTM
Description Datum Reference
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output Message
Comment This message gives the difference between the current datum and the reference datum.
The current datum defaults to WGS84
The reference datum cannot be changed and is always set to WGS84.
ID for CFG-MSG Number of fields
Message Info 0xF0 0x0A 11
Message Structure:
$xxDTM,datum,subDatum,lat,NS,lon,EW,alt,refDatum*cs<CR><LF>

Example:
$GPDTM,W84,,0.0,N,0.0,E,0.0,W84*6F

$GPDTM,999,,0.08,N,0.07,E,-47.7,W84*1C
Field Name Unit Format Example Description
No.
0 xxDTM - string $GPDTM DTM Message ID (xx = current Talker ID)
1 datum - string W84 Local datum code: W84 = WGS84, 999 = user
defined
2 subDatum - string - A null field
3 lat min numeric 0.08 Offset in Latitude
4 NS - character S North/South indicator
5 lon min numeric 0.07 Offset in Longitude
6 EW - character E East/West indicator
7 alt m numeric -2.8 Offset in altitude
8 refDatum - string W84 Reference datum code (always W84 = WGS 84)
9 cs - hexadecimal *67 Checksum
10 <CR><LF> - character - Carriage return and line feed

GPS.G7-SW-12001-B Public Release Page 52 of 196


24.2 GBS
24.2.1 GNSS Satellite Fault Detection
Message GBS
Description GNSS Satellite Fault Detection
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output Message
Comment This message outputs the results of the Receiver Autonomous Integrity Monitoring
Algorithm (RAIM).
• The fields errLat, errLon and errAlt output the standard deviation of the position
calculation, using all satellites which pass the RAIM test successfully.
• The fields errLat, errLon and errAlt are only output if the RAIM process passed
successfully (i.e. no or successful edits happened). These fields are never output if 4 or
fewer satellites are used for the navigation calculation (because, in such cases, integrity
can not be determined by the receiver autonomously).
• The fields prob, bias and stdev are only output if at least one satellite failed in the
RAIM test. If more than one satellites fail the RAIM test, only the information for the
worst satellite is output in this message.
ID for CFG-MSG Number of fields
Message Info 0xF0 0x09 11
Message Structure:
$xxGBS,time,errLat,errLon,errAlt,svid,prob,bias,stddev*cs<CR><LF>

Example:
$GPGBS,235503.00,1.6,1.4,3.2,,,,*40

$GPGBS,235458.00,1.4,1.3,3.1,03,,-21.4,3.8*5B
Field Name Unit Format Example Description
No.
0 xxGBS - string $GPGBS GBS Message ID (xx = current Talker ID)
1 time - hhmmss.ss 235503.00 UTC time to which this RAIM sentence belongs, see
note on UTC representation
2 errLat m numeric 1.6 Expected error in latitude
3 errLon m numeric 1.4 Expected error in longitude
4 errAlt m numeric 3.2 Expected error in altitude
5 svid - numeric 03 Satellite ID of most likely failed satellite
6 prob - numeric - Probability of missed detection, not supported
(empty)
7 bias m numeric -21.4 Estimate on most likely failed satellite (a priori
residual)
8 stddev m numeric 3.8 Standard deviation of estimated bias
9 cs - hexadecimal *5B Checksum
10 <CR><LF> - character - Carriage return and line feed

GPS.G7-SW-12001-B Public Release Page 53 of 196


24.3 GGA
24.3.1 Global positioning system fix data
Message GGA
Description Global positioning system fix data
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output Message
Comment The output of this message is dependent on the currently selected datum (default:
WGS84)
Time and position, together with GPS fixing related data (number of satellites in use, and
the resulting HDOP, age of differential data if in use, etc.).
ID for CFG-MSG Number of fields
Message Info 0xF0 0x00 17
Message Structure:
$xxGGA,time,lat,NS,long,EW,quality,numSV,HDOP,alt,M,sep,M,diffAge,diffStation*cs<CR><LF>

Example:
$GPGGA,092725.00,4717.11399,N,00833.91590,E,1,08,1.01,499.6,M,48.0,M,,*5B
Field Name Unit Format Example Description
No.
0 xxGGA - string $GPGGA GGA Message ID (xx = current Talker ID)
1 time - hhmmss.ss 092725.00 UTC time, see note on UTC representation
2 lat - ddmm. 4717.11399 Latitude (degrees & minutes), see format description
mmmmm
3 NS - character N North/South indicator
4 long - dddmm. 00833.91590 Longitude (degrees & minutes), see format
mmmmm description
5 EW - character E East/West indicator
6 quality - digit 1 Quality indicator for position fix, see table below
and position fix flags description
7 numSV - numeric 08 Number of satellites used (range: 0-12)
8 HDOP - numeric 1.01 Horizontal Dilution of Precision
9 alt m numeric 499.6 Altitude above mean sea level
10 uAlt - character M Altitude units: meters (fixed field)
11 sep m numeric 48.0 Geoid separation: difference between geoid and
mean sea level
12 uSep - character M Separation units: meters (fixed field)
13 diffAge s numeric - Age of differential corrections (blank when DGPS is
not used)
14 diffStat - numeric - ID of station providing differential corrections (blank
ion when DGPS is not used)
15 cs - hexadecimal *5B Checksum
16 <CR><LF> - character - Carriage return and line feed

GPS.G7-SW-12001-B Public Release Page 54 of 196


Table Quality Indicator
Quality Indicator Description, see also position fix flags description
0 No Fix / Invalid
1 Standard GPS (2D/3D)
2 Differential GPS
6 Estimated (DR) Fix

24.4 GLL
24.4.1 Latitude and longitude, with time of position fix and status
Message GLL
Description Latitude and longitude, with time of position fix and status
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output Message
Comment The output of this message is dependent on the currently selected datum (default:
WGS84)
-
ID for CFG-MSG Number of fields
Message Info 0xF0 0x01 (9) or (10)
Message Structure:
$xxGLL,lat,NS,long,EW,time,status,posMode*cs<CR><LF>

Example:
$GPGLL,4717.11364,N,00833.91565,E,092321.00,A,A*60
Field Name Unit Format Example Description
No.
0 xxGLL - string $GPGLL GLL Message ID (xx = current Talker ID)
1 lat - ddmm. 4717.11364 Latitude (degrees & minutes), see format description
mmmmm
2 NS - character N North/South indicator
3 long - dddmm. 00833.91565 Longitude (degrees & minutes), see format
mmmmm description
4 EW - character E East/West indicator
5 time - hhmmss.ss 092321.00 UTC time, see note on UTC representation
6 status - character A V = Data invalid or receiver warning, A = Data valid.
See position fix flags description.
Start of optional block

7 posMode - character A Positioning mode, see position fix flags description


End of optional block

7 cs - hexadecimal *60 Checksum


8 <CR><LF> - character - Carriage return and line feed

GPS.G7-SW-12001-B Public Release Page 55 of 196


24.5 GLQ
24.5.1 Poll a standard message (if the current Talker ID is GL)
Message GLQ
Description Poll a standard message (if the current Talker ID is GL)
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input Message
Comment Polls a standard NMEA message if the current Talker ID is GL
ID for CFG-MSG Number of fields
Message Info 0xF0 0x43 4
Message Structure:
$xxGLQ,msgId*cs<CR><LF>

Example:
$EIGLQ,RMC*3A
Field Name Unit Format Example Description
No.
0 xxGLQ - string $EIGLQ GLQ Message ID (xx = Talker ID of the device
requesting the poll)
1 msgId - string RMC Message ID of the message to be polled
2 cs - hexadecimal *3A Checksum
3 <CR><LF> - character - Carriage return and line feed

24.6 GNQ
24.6.1 Poll a standard message (if the current Talker ID is GN)
Message GNQ
Description Poll a standard message (if the current Talker ID is GN)
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input Message
Comment Polls a standard NMEA message if the current Talker ID is GN
ID for CFG-MSG Number of fields
Message Info 0xF0 0x42 4
Message Structure:
$xxGNQ,msgId*cs<CR><LF>

Example:
$EIGNQ,RMC*3A
Field Name Unit Format Example Description
No.
0 xxGNQ - string $EIGNQ GNQ Message ID (xx = Talker ID of the device
requesting the poll)
1 msgId - string RMC Message ID of the message to be polled
2 cs - hexadecimal *3A Checksum
3 <CR><LF> - character - Carriage return and line feed

GPS.G7-SW-12001-B Public Release Page 56 of 196


24.7 GNS
24.7.1 GNSS fix data
Message GNS
Description GNSS fix data
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output Message
Comment The output of this message is dependent on the currently selected datum (default:
WGS84)
Time and position, together with GNSS fixing related data (number of satellites in use, and
the resulting HDOP, age of differential data if in use, etc.).
ID for CFG-MSG Number of fields
Message Info 0xF0 0x0D 15
Message Structure:
$xxGNS,time,lat,NS,long,EW,posMode,numSV,HDOP,alt,altRef,diffAge,diffStation*cs<CR><LF>

Example:
$GPGNS,091547.00,5114.50897,N,00012.28663,W,AA,10,0.83,111.1,45.6,,*71
Field Name Unit Format Example Description
No.
0 xxGNS - string $GPGNS GNS Message ID (xx = current Talker ID)
1 time - hhmmss.ss 091547.00 UTC time, see note on UTC representation
2 lat - ddmm. 5114.50897 Latitude (degrees & minutes), see format description
mmmmm
3 NS - character N North/South indicator
4 long - dddmm. 00012.28663 Longitude (degrees & minutes), see format
mmmmm description
5 EW - character E East/West indicator
6 posMode - character AA Positioning mode, see position fix flags description.
First character for GPS, second character for
GLONASS
7 numSV - numeric 10 Number of satellites used (range: 0-99)
8 HDOP - numeric 0.83 Horizontal Dilution of Precision
9 alt m numeric 111.1 Altitude above mean sea level
10 sep m numeric 45.6 Geoid separation: difference between geoid and
mean sea level
11 diffAge s numeric - Age of differential corrections (blank when DGPS is
not used)
12 diffStat - numeric - ID of station providing differential corrections (blank
ion when DGPS is not used)
13 cs - hexadecimal *71 Checksum
14 <CR><LF> - character - Carriage return and line feed

GPS.G7-SW-12001-B Public Release Page 57 of 196


24.8 GPQ
24.8.1 Poll a standard message (if the current Talker ID is GP)
Message GPQ
Description Poll a standard message (if the current Talker ID is GP)
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input Message
Comment Polls a standard NMEA message if the current Talker ID is GP
ID for CFG-MSG Number of fields
Message Info 0xF0 0x40 4
Message Structure:
$xxGPQ,msgId*cs<CR><LF>

Example:
$EIGPQ,RMC*3A
Field Name Unit Format Example Description
No.
0 xxGPQ - string $EIGPQ GPQ Message ID (xx = Talker ID of the device
requesting the poll)
1 msgId - string RMC Message ID of the message to be polled
2 cs - hexadecimal *3A Checksum
3 <CR><LF> - character - Carriage return and line feed

24.9 GRS
24.9.1 GNSS Range Residuals
Message GRS
Description GNSS Range Residuals
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output Message
Comment This messages relates to associated GGA and GSA messages.
If less than 12 SVs are available, the remaining fields are output empty. If more than 12 SVs
are used, only the residuals of the first 12 SVs are output, in order to remain consistent
with the NMEA standard.
ID for CFG-MSG Number of fields
Message Info 0xF0 0x06 17
Message Structure:
$xxGRS,time, mode {,residual}*cs<CR><LF>

Example:
$GPGRS,082632.00,1,0.54,0.83,1.00,1.02,-2.12,2.64,-0.71,-1.18,0.25,,,*70
Field Name Unit Format Example Description
No.
0 xxGRS - string $GPGRS GRS Message ID (xx = current Talker ID)
1 time - hhmmss.ss 082632.00 UTC time of associated position fix, see note on
UTC representation

GPS.G7-SW-12001-B Public Release Page 58 of 196


GRS continued
Field Name Unit Format Example Description
No.
2 mode - digit 1 Mode (see table below), u-blox receivers will always
output Mode 1 residuals
Start of repeated block (12 times)

3 + residual m numeric 0.54 Range residuals for SVs used in navigation. The SV
1*N order matches the order from the GSA sentence.
End of repeated block

15 cs - hexadecimal *70 Checksum


16 <CR><LF> - character - Carriage return and line feed
Table Mode
Mode Description
0 Residuals were used to calculate the position given in the matching GGA sentence.
1 Residuals were recomputed after the GGA position was computed.

24.10 GSA
24.10.1 GNSS DOP and Active Satellites
Message GSA
Description GNSS DOP and Active Satellites
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output Message
Comment The GPS receiver operating mode, satellites used for navigation, and DOP values.
• If less than 12 SVs are used for navigation, the remaining fields are left empty. If more
than 12 SVs are used for navigation, only the IDs of the first 12 are output.
• The SV numbers (fields 'sv') are in the range of 1 to 32 for GPS satellites, and 33 to 64
for SBAS satellites (33 = SBAS PRN 120, 34 = SBAS PRN 121, and so on)
ID for CFG-MSG Number of fields
Message Info 0xF0 0x02 20
Message Structure:
$xxGSA,opMode,navMode{,sv},PDOP,HDOP,VDOP*cs<CR><LF>

Example:
$GPGSA,A,3,23,29,07,08,09,18,26,28,,,,,1.94,1.18,1.54*0D
Field Name Unit Format Example Description
No.
0 xxGSA - string $GPGSA GSA Message ID (xx = current Talker ID)
1 opMode - character A Operation mode, see first table below
2 navMode - digit 3 Navigation mode, see second table below and
position fix flags description
Start of repeated block (12 times)

3 + sv - numeric 29 Satellite number


1*N
End of repeated block

15 PDOP - numeric 1.94 Position dilution of precision

GPS.G7-SW-12001-B Public Release Page 59 of 196


GSA continued
Field Name Unit Format Example Description
No.
16 HDOP - numeric 1.18 Horizontal dilution of precision
17 VDOP - numeric 1.54 Vertical dilution of precision
18 cs - hexadecimal *0D Checksum
19 <CR><LF> - character - Carriage return and line feed
Table Operation Mode
Operation Mode Description
M Manually set to operate in 2D or 3D mode
A Automatically switching between 2D or 3D mode

Table Navigation Mode


Navigation Mode Description, see also position fix flags description
1 Fix not available
2 2D Fix
3 3D Fix

24.11 GST
24.11.1 GNSS Pseudo Range Error Statistics
Message GST
Description GNSS Pseudo Range Error Statistics
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output Message
Comment This message reports statisical information on the quality of the position solution.
ID for CFG-MSG Number of fields
Message Info 0xF0 0x07 11
Message Structure:
$xxGST,time,rangeRms,stdMajor,stdMinor,orient,stdLat,stdLong,stdAlt*cs<CR><LF>

Example:
$GPGST,082356.00,1.8,,,,1.7,1.3,2.2*7E
Field Name Unit Format Example Description
No.
0 xxGST - string $GPGST GST Message ID (xx = current Talker ID)
1 time - hhmmss.ss 082356.00 UTC time of associated position fix, see note on
UTC representation
2 rangeRms m numeric 1.8 RMS value of the standard deviation of the ranges
3 stdMajor m numeric - Standard deviation of semi-major axis (blank - not
supported)
4 stdMinor m numeric - Standard deviation of semi-minor axis (blank - not
supported)
5 orient deg numeric - Orientation of semi-major axis (blank - not
supported)
6 stdLat m numeric 1.7 Standard deviation of latitude error
7 stdLong m numeric 1.3 Standard deviation of longitude error

GPS.G7-SW-12001-B Public Release Page 60 of 196


GST continued
Field Name Unit Format Example Description
No.
8 stdAlt m numeric 2.2 Standard deviation of altitude error
9 cs - hexadecimal *7E Checksum
10 <CR><LF> - character - Carriage return and line feed

24.12 GSV
24.12.1 GNSS Satellites in View
Message GSV
Description GNSS Satellites in View
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output Message
Comment The number of satellites in view, together with each SV ID, elevation azimuth, and signal
strength (C/No) value. Only four satellite details are transmitted in one message.
ID for CFG-MSG Number of fields
Message Info 0xF0 0x03 7..16
Message Structure:
$xxGSV,numMsg,msgNum,numSV,{,sv,elv,az,cno}*cs<CR><LF>

Example:
$GPGSV,3,1,10,23,38,230,44,29,71,156,47,07,29,116,41,08,09,081,36*7F

$GPGSV,3,2,10,10,07,189,,05,05,220,,09,34,274,42,18,25,309,44*72

$GPGSV,3,3,10,26,82,187,47,28,43,056,46*77
Field Name Unit Format Example Description
No.
0 xxGSV - string $GPGSV GSV Message ID (xx = GSV Talker ID)
1 numMsg - digit 3 Number of messages, total number of GSV
messages being output
2 msgNum - digit 1 Number of this message
3 numSV - numeric 10 Number of satellites in view
Start of repeated block (1..4 times)

4+ sv - numeric 23 Satellite ID
4*N
5+ elv deg numeric 38 Elevation (range 0-90)
4*N
6+ az deg numeric 230 Azimuth, (range 0-359)
4*N
7+ cno dBH numeric 44 Signal strength (C/N0, range 0-99), blank when not
4*N z tracking
End of repeated block

5.. cs - hexadecimal *7F Checksum


16
6.. <CR><LF> - character - Carriage return and line feed
16

GPS.G7-SW-12001-B Public Release Page 61 of 196


24.13 RMC
24.13.1 Recommended Minimum data
Message RMC
Description Recommended Minimum data
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output Message
Comment The output of this message is dependent on the currently selected datum (default:
WGS84)
The recommended minimum sentence defined by NMEA for GNSS system data.
ID for CFG-MSG Number of fields
Message Info 0xF0 0x04 15
Message Structure:
$xxRMC,time,status,lat,NS,long,EW,spd,cog,date,mv,mvEW,posMode*cs<CR><LF>

Example:
$GPRMC,083559.00,A,4717.11437,N,00833.91522,E,0.004,77.52,091202,,,A*57
Field Name Unit Format Example Description
No.
0 xxRMC - string $GPRMC RMC Message ID (xx = current Talker ID)
1 time - hhmmss.ss 083559.00 UTC time, see note on UTC representation
2 status - character A Status, V = Navigation receiver warning, A = Data
valid, see position fix flags description
3 lat - ddmm. 4717.11437 Latitude (degrees & minutes), see format description
mmmmm
4 NS - character N North/South indicator
5 long - dddmm. 00833.91522 Longitude (degrees & minutes), see format
mmmmm description
6 EW - character E East/West indicator
7 spd knot numeric 0.004 Speed over ground
s
8 cog degr numeric 77.52 Course over ground
ees
9 date - ddmmyy 091202 Date in day, month, year format, see note on UTC
representation
10 mv degr numeric - Magnetic variation value (blank - not supported)
ees
11 mvEW - character - Magnetic variation E/W indicator (blank - not
supported)
12 posMode - character - Mode Indicator, see position fix flags description
13 cs - hexadecimal *57 Checksum
14 <CR><LF> - character - Carriage return and line feed

GPS.G7-SW-12001-B Public Release Page 62 of 196


24.14 TXT
24.14.1 Text Transmission
Message TXT
Description Text Transmission
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output Message
Comment This message is not configured through UBX-CFG-MSG, but instead through
UBX-CFG-INF.
This message outputs various information on the receiver, such as power-up screen,
software version etc. This message can be configured using UBX Protocol message
UBX-CFG-INF.
ID for CFG-MSG Number of fields
Message Info 0xF0 0x41 7
Message Structure:
$xxTXT,numMsg,msgNum,msgType,text*cs<CR><LF>

Example:
$GPTXT,01,01,02,u-blox ag - www.u-blox.com*50

$GPTXT,01,01,02,ANTARIS ATR0620 HW 00000040*67


Field Name Unit Format Example Description
No.
0 xxTXT - string $GPTXT TXT Message ID (xx = current Talker ID)
1 numMsg - numeric 01 Total number of messages in this transmission, 01..
99
2 msgNum - numeric 01 Message number in this transmission, range 01..xx
3 msgType - numeric 02 Text identifier, u-blox GPS receivers specify the type
of the message with this number.
00: Error
01: Warning
02: Notice
07: User
4 text - string www.u-blox. Any ASCII text
com
5 cs - hexadecimal *67 Checksum
6 <CR><LF> - character - Carriage return and line feed

GPS.G7-SW-12001-B Public Release Page 63 of 196


24.15 VTG
24.15.1 Course over ground and Ground speed
Message VTG
Description Course over ground and Ground speed
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output Message
Comment Velocity is given as Course over Ground (COG) and Speed over Ground (SOG).
ID for CFG-MSG Number of fields
Message Info 0xF0 0x05 12
Message Structure:
$xxVTG,cogt,T,cogm,M,knots,N,kph,K,posMode*cs<CR><LF>

Example:
$GPVTG,77.52,T,,M,0.004,N,0.008,K,A*06
Field Name Unit Format Example Description
No.
0 xxVTG - string $GPVTG VTG Message ID (xx = current Talker ID)
1 cogt degr numeric 77.52 Course over ground (true)
ees
2 T - character T Fixed field: true
3 cogm degr numeric - Course over ground (magnetic), not output
ees
4 M - character M Fixed field: magnetic
5 knots knot numeric 0.004 Speed over ground
s
6 N - character N Fixed field: knots
7 kph km/ numeric 0.008 Speed over ground
h
8 K - character K Fixed field: kilometers per hour
9 posMode - character A Mode Indicator, see position fix flags description
10 cs - hexadecimal *06 Checksum
11 <CR><LF> - character - Carriage return and line feed

GPS.G7-SW-12001-B Public Release Page 64 of 196


24.16 ZDA
24.16.1 Time and Date
Message ZDA
Description Time and Date
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output Message
Comment -
ID for CFG-MSG Number of fields
Message Info 0xF0 0x08 9
Message Structure:
$xxZDA,hhmmss.ss,day,month,year,ltzh,ltzn*cs<CR><LF>

Example:
$GPZDA,082710.00,16,09,2002,00,00*64
Field Name Unit Format Example Description
No.
0 xxZDA - string $GPZDA ZDA Message ID (xx = current Talker ID)
1 time - hhmmss.ss 082710.00 UTC Time, see note on UTC representation
2 day day dd 16 UTC day (range: 1-31)
3 month mon mm 09 UTC month (range: 1-12)
th
4 year year yyyy 2002 UTC year
5 ltzh - -xx 00 Local time zone hours (fixed to 00)
6 ltzn - zz 00 Local time zone minutes (fixed to 00)
7 cs - hexadecimal *64 Checksum
8 <CR><LF> - character - Carriage return and line feed

GPS.G7-SW-12001-B Public Release Page 65 of 196


25 PUBX Messages
Proprietary Messages: i.e. Messages defined by u-blox.

25.1 CONFIG (PUBX,41)


25.1.1 Set Protocols and Baudrate
Message CONFIG
Description Set Protocols and Baudrate
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Set Message
Comment -
ID for CFG-MSG Number of fields
Message Info 0xF1 0x41 9
Message Structure:
$PUBX,41,portId,inProto,outProto,baudrate,autobauding*cs<CR><LF>

Example:
$PUBX,41,1,0007,0003,19200,0*25
Field Name Unit Format Example Description
No.
0 $PUBX - string $PUBX Message ID, UBX protocol header, proprietary
sentence
1 msgId - numeric 41 Proprietary message identifier
2 portId - numeric 1 ID of communication port. For a list of port IDs see
Serial Communication Ports Description.
3 inProto - hexadecimal 0007 Input protocol mask. Bitmask, specifying which
protocols(s) are allowed for input. For details see
corresponding field in UBX-CFG-PRT.
4 outProto - hexadecimal 0003 Output protocol mask. Bitmask, specifying which
protocols(s) are allowed for input. For details see
corresponding field in UBX-CFG-PRT.
5 baudrate bits/ numeric 19200 Baudrate
s
6 autobaud - numeric 0 Autobauding: 1=enable, 0=disable (not supported
ing on u-blox 5, set to 0)
7 cs - hexadecimal *25 Checksum
8 <CR><LF> - character - Carriage return and line feed

GPS.G7-SW-12001-B Public Release Page 66 of 196


25.2 POSITION (PUBX,00)
25.2.1 Poll a PUBX,00 message
Message POSITION
Description Poll a PUBX,00 message
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input Message
Comment A PUBX,00 message is polled by sending the PUBX,00 message without any data fields.
ID for CFG-MSG Number of fields
Message Info 0xF1 0x00 4
Message Structure:
$PUBX,00*33<CR><LF>

Example:
$PUBX,00*33
Field Name Unit Format Example Description
No.
0 $PUBX - string $PUBX Message ID, UBX protocol header, proprietary
sentence
1 msgId - numeric 00 Set to 00 to poll a PUBX,00 message
2 cs - hexadecimal *33 Checksum
3 <CR><LF> - character - Carriage return and line feed

25.2.2 Lat/Long Position Data


Message POSITION
Description Lat/Long Position Data
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output Message
Comment The output of this message is dependent on the currently selected datum (default:
WGS84)
This message contains position solution data. The datum selection may be changed using
the message UBX-CFG-DAT.
ID for CFG-MSG Number of fields
Message Info 0xF1 0x00 23
Message Structure:
$PUBX,00,time,lat,NS,long,EW,altRef,navStat,hAcc,vAcc,SOG,COG,vVel,diffAge,HDOP,VDOP,TDOP,numSvs,re

served,DR,*cs<CR><LF>

Example:
$PUBX,00,081350.00,4717.113210,N,00833.915187,E,546.589,G3,2.1,2.0,0.007,77.52,0.007,,0.92,1.19,0.7

7,9,0,0*5F
Field Name Unit Format Example Description
No.
0 $PUBX - string $PUBX Message ID, UBX protocol header, proprietary
sentence

GPS.G7-SW-12001-B Public Release Page 67 of 196


POSITION continued
Field Name Unit Format Example Description
No.
1 msgId - numeric 00 Proprietary message identifier: 00
2 time - hhmmss.ss 081350.00 UTC time, see note on UTC representation
3 lat - ddmm. 4717.113210 Latitude (degrees & minutes), see format description
mmmmm
4 NS - character N North/South Indicator
5 long - dddmm. 00833.915187 Longitude (degrees & minutes), see format
mmmmm description
6 EW - character E East/West indicator
7 altRef m numeric 546.589 Altitude above user datum ellipsoid.
8 navStat - string G3 Navigation Status, See Table below
9 hAcc m numeric 2.1 Horizontal accuracy estimate.
10 vAcc m numeric 2.0 Vertical accuracy estimate.
11 SOG km/ numeric 0.007 Speed over ground
h
12 COG deg numeric 77.52 Course over ground
13 vVel m/s numeric 0.007 Vertical velocity (positive downwards)
14 diffAge s numeric - Age of differential corrections (blank when DGPS is
not used)
15 HDOP - numeric 0.92 HDOP, Horizontal Dilution of Precision
16 VDOP - numeric 1.19 VDOP, Vertical Dilution of Precision
17 TDOP - numeric 0.77 TDOP, Time Dilution of Precision
18 numSvs - numeric 9 Number of satellites used in the navigation solution
19 reserved - numeric 0 Reserved, always set to 0
20 DR - numeric 0 DR used
21 cs - hexadecimal *5B Checksum
22 <CR><LF> - character - Carriage return and line feed
Table Navigation Status
Navigation Status Description
NF No Fix
DR Dead reckoning only solution
G2 Stand alone 2D solution
G3 Stand alone 3D solution
D2 Differential 2D solution
D3 Differential 3D solution
RK Combined GPS + dead reckoning solution
TT Time only solution

GPS.G7-SW-12001-B Public Release Page 68 of 196


25.3 RATE (PUBX,40)
25.3.1 Set NMEA message output rate
Message RATE
Description Set NMEA message output rate
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Set Message
Comment Set/Get message rate configuration (s) to/from the receiver.
• Send rate is relative to the event a message is registered on. For example, if the rate of a
navigation message is set to 2, the message is sent every second navigation solution.
ID for CFG-MSG Number of fields
Message Info 0xF1 0x40 11
Message Structure:
$PUBX,40,msgId,rddc,rus1,rus2,rusb,rspi,reserved*cs<CR><LF>

Example:
$PUBX,40,GLL,1,0,0,0,0,0*5D
Field Name Unit Format Example Description
No.
0 $PUBX - string $PUBX Message ID, UBX protocol header, proprietary
sentence
1 ID - numeric 40 Proprietary message identifier
2 msgId - string GLL NMEA message identifier
3 rddc cycl numeric 1 output rate on DDC
es 0 disables that message from being output on this
port
1 means that this message is output every epoch
4 rus1 cycl numeric 1 output rate on USART 1
es 0 disables that message from being output on this
port
1 means that this message is output every epoch
5 rus2 cycl numeric 1 output rate on USART 2
es 0 disables that message from being output on this
port
1 means that this message is output every epoch
6 rusb cycl numeric 1 output rate on USB
es 0 disables that message from being output on this
port
1 means that this message is output every epoch
7 rspi cycl numeric 1 output rate on SPI
es 0 disables that message from being output on this
port
1 means that this message is output every epoch
8 reserved - numeric 0 Reserved: always fill with 0
9 cs - hexadecimal *5D Checksum
10 <CR><LF> - character - Carriage return and line feed

GPS.G7-SW-12001-B Public Release Page 69 of 196


25.4 SVSTATUS (PUBX,03)
25.4.1 Poll a PUBX,03 message
Message SVSTATUS
Description Poll a PUBX,03 message
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input Message
Comment A PUBX,03 message is polled by sending the PUBX,03 message without any data fields.
ID for CFG-MSG Number of fields
Message Info 0xF1 0x03 4
Message Structure:
$PUBX,03*30<CR><LF>

Example:
$PUBX,03*30
Field Name Unit Format Example Description
No.
0 $PUBX - string $PUBX Message ID, UBX protocol header, proprietary
sentence
1 msgId - numeric 03 Set to 03 to poll a PUBX,03 message
2 cs - hexadecimal *30 Checksum
3 <CR><LF> - character - Carriage return and line feed

25.4.2 Satellite Status


Message SVSTATUS
Description Satellite Status
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output Message
Comment The PUBX,03 message contains satellite status information.
ID for CFG-MSG Number of fields
Message Info 0xF1 0x03 5 + 6*n
Message Structure:
$PUBX,03,GT{,sv,s,az,el,cno,lck},*cs<CR><LF>

Example:
$PUBX,03,11,23,-,,,45,010,29,-,,,46,013,07,-,,,42,015,08,U,067,31,42,025,10,U,195,33,46,026,18,U,32

6,08,39,026,17,-,,,32,015,26,U,306,66,48,025,27,U,073,10,36,026,28,U,089,61,46,024,15,-,,,39,014*0D
Field Name Unit Format Example Description
No.
0 $PUBX - string $PUBX Message ID, UBX protocol header, proprietary
sentence
1 msgId - numeric 03 Proprietary message identifier: 03
2 n - numeric 11 Number of GPS satellites tracked
Start of repeated block (n times)

GPS.G7-SW-12001-B Public Release Page 70 of 196


SVSTATUS continued
Field Name Unit Format Example Description
No.
3+ sv - numeric 23 Satellite ID
6*N
4+ s - character - Satellite status, see table below
6*N
5+ az deg numeric - Satellite azimuth (range: 0-359)
6*N
6+ el deg numeric - Satellite elevation (range: 0-90)
6*N
7+ cno dBH numeric 45 Signal strength (C/N0, range 0-99), blank when not
6*N z tracking
8+ lck s numeric 010 Satellite carrier lock time (range: 0-64)
6*N 0: code lock only
64: lock for 64 seconds or more
End of repeated block

3 + cs - hexadecimal *0D Checksum


6*n
4 + <CR><LF> - character - Carriage return and line feed
6*n
Table Satellite Status
Satellite Status Description
- Not used
U Used in solution
e Ephemeris available, but not used for navigation

25.5 TIME (PUBX,04)


25.5.1 Poll a PUBX,04 message
Message TIME
Description Poll a PUBX,04 message
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input Message
Comment A PUBX,04 message is polled by sending the PUBX,04 message without any data fields.
ID for CFG-MSG Number of fields
Message Info 0xF1 0x04 4
Message Structure:
$PUBX,04*37<CR><LF>

Example:
$PUBX,04*37
Field Name Unit Format Example Description
No.
0 $PUBX - string $PUBX Message ID, UBX protocol header, proprietary
sentence
1 msgId - numeric 04 Set to 04 to poll a PUBX,04 message
GPS.G7-SW-12001-B Public Release Page 71 of 196
TIME continued
Field Name Unit Format Example Description
No.
2 cs - hexadecimal *37 Checksum
3 <CR><LF> - character - Carriage Return and Line Feed

25.5.2 Time of Day and Clock Information


Message TIME
Description Time of Day and Clock Information
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output Message
Comment -
ID for CFG-MSG Number of fields
Message Info 0xF1 0x04 12
Message Structure:
$PUBX,04,time,date,utcTow,utcWk,leapSec,clkBias,clkDrift,tpGran,*cs<CR><LF>

Example:
$PUBX,04,073731.00,091202,113851.00,1196,15D,1930035,-2660.664,43,*3C
Field Name Unit Format Example Description
No.
0 $PUBX - string $PUBX Message ID, UBX protocol header, proprietary
sentence
1 msgId - numeric 04 Proprietary message identifier: 04
2 time - hhmmss.ss 073731.00 UTC time, see note on UTC representation
3 date - ddmmyy 091202 UTC date, day, month, year format, see note on
UTC representation
4 utcTow s numeric 113851.00 UTC Time of Week
5 utcWk - numeric 1196 UTC week number, continues beyond 1023
6 leapSec s numeric/text 15D Leap seconds
The number is marked with a ‘D’ if the value is the
firmware default value. If the value is not marked it
has been received from a satellite.
7 clkBias ns numeric 1930035 Receiver clock bias
8 clkDrift ns/s numeric -2660.664 Receiver clock drift
9 tpGran ns numeric 43 Time Pulse Granularity, The quantization error of the
TIMEPULSE pin
10 cs - hexadecimal *3C Checksum
11 <CR><LF> - character - Carriage Return and Line Feed

GPS.G7-SW-12001-B Public Release Page 72 of 196


UBX Protocol
26 UBX Protocol Key Features
u-blox GNSS receivers use a u-blox proprietary protocol to transmit GNSS data to a host computer. This
protocol has the following key features:
• Compact - uses 8 Bit Binary Data.
• Checksum Protected - uses a low-overhead checksum algorithm
• Modular - uses a 2-stage message identifier (Class- and Message ID)

27 UBX Packet Structure


A basic UBX Packet looks as follows:

• Every Message starts with 2 Bytes: 0xB5 0x62


• A 1 Byte Class Field follows. The Class defines the basic subset of the message
• A 1 Byte ID Field defines the message that is to follow
• A 2 Byte Length Field is following. Length is defined as being the length of the payload, only. It does not
include Sync Chars, Length Field, Class, ID or CRC fields. The number format of the length field is an
unsigned 16-Bit integer in Little Endian Format.
• The Payload is a variable length field.
• CK_A and CK_B is a 16 Bit checksum whose calculation is defined below.

28 UBX Payload Definition Rules

28.1 Structure Packing


Values are placed in an order that structure packing is not a problem. This means that 2 byte values shall start
on offsets which are a multiple of 2, 4 byte values shall start at a multiple of 4, and so on.

28.2 Message Naming


Referring to messages is done by adding the class name and a dash in front of the message name. For example,
the ECEF-Message is referred to as NAV-POSECEF. Referring to values is done by adding a dash and the name,
e.g. NAV-POSECEF-X

GPS.G7-SW-12001-B Public Release Page 73 of 196


28.3 Number Formats
All multi-byte values are ordered in Little Endian format, unless otherwise indicated.
All floating point values are transmitted in IEEE754 single or double precision. A technical description of the
IEEE754 format can be found in the AnswerBook from the ADS1.x toolkit.
Variable Type Definitions
Short Type Size (Bytes) Comment Min/Max Resolution
U1 Unsigned Char 1 0..255 1
I1 Signed Char 1 2's complement -128..127 1
X1 Bitfield 1 n/a n/a
U2 Unsigned Short 2 0..65535 1
I2 Signed Short 2 2's complement -32768..32767 1
X2 Bitfield 2 n/a n/a
U4 Unsigned Long 4 0..4 '294'967'295 1
I4 Signed Long 4 2's complement -2'147'483'648 .. 1
2'147'483'647
X4 Bitfield 4 n/a n/a
R4 IEEE 754 Single Precision 4 -1*2^+127 .. ~ Value * 2^-24
2^+127
R8 IEEE 754 Double Precision 8 -1*2^+1023 .. ~ Value * 2^-53
2^+1023
CH ASCII / ISO 8859.1 Encoding 1

29 UBX Checksum
The checksum is calculated over the packet, starting and including the CLASS field, up until, but excluding, the
Checksum Field:

The checksum algorithm used is the 8-Bit Fletcher Algorithm, which is used in the TCP standard (RFC 1145).
This algorithm works as follows:
Buffer[N] contains the data over which the checksum is to be calculated.
The two CK_ values are 8-Bit unsigned integers, only! If implementing with larger-sized integer values, make
sure to mask both CK_A and CK_B with 0xFF after both operations in the loop.
CK_A = 0, CK_B = 0
For(I=0;I<N;I++)
{
CK_A = CK_A + Buffer[I]
CK_B = CK_B + CK_A
}
After the loop, the two U1 values contain the checksum, transmitted at the end of the packet.

GPS.G7-SW-12001-B Public Release Page 74 of 196


30 UBX Message Flow
There are certain features associated with the messages being sent back and forth:

30.1 Acknowledgement
When messages from the class CFG are sent to the receiver, the receiver will send an "acknowledge" (ACK-AC
K) or a "not acknowledge" (ACK-NAK) message back to the sender, depending on whether or not the
message was processed correctly.
Some messages from other classes (e.g. LOG) also use the same acknowledgement mechanism.

30.2 Polling Mechanism


All messages that are output by the receiver in a periodic manner (i.e. messages in classes MON, NAV and
RXM) can also be polled.
There is not a single specific message which polls any other message. The UBX protocol was designed such,
that when sending a message with no payload (or just a single parameter which identifies the poll request) the
message is polled.

31 UBX Class IDs


A class is a grouping of messages which are related to each other. The following table lists all the current
message classes.
Name Class Description
NAV 0x01 Navigation Results: Position, Speed, Time, Acc, Heading, DOP, SVs used
RXM 0x02 Receiver Manager Messages: Satellite Status, RTC Status
INF 0x04 Information Messages: Printf-Style Messages, with IDs such as Error, Warning, Notice
ACK 0x05 Ack/Nack Messages: as replies to CFG Input Messages
CFG 0x06 Configuration Input Messages: Set Dynamic Model, Set DOP Mask, Set Baud Rate, etc.
MON 0x0A Monitoring Messages: Comunication Status, CPU Load, Stack Usage, Task Status
AID 0x0B AssistNow Aiding Messages: Ephemeris, Almanac, other A-GPS data input
TIM 0x0D Timing Messages: Time Pulse Output, Timemark Results
LOG 0x21 Logging Messages: Log creation, deletion, info and retrieval
All remaining class IDs are reserved.

GPS.G7-SW-12001-B Public Release Page 75 of 196


32 UBX Messages Overview
Page Mnemonic Cls/ID Length Type Description
UBX Class ACK Ack/Nack Messages

80 ACK-ACK 0x05 0x01 2 Output Message Acknowledged

80 ACK-NAK 0x05 0x00 2 Output Message Not-Acknowledged

UBX Class AID AssistNow Aiding Messages

81 AID-ALM 0x0B 0x30 0 Poll Request Poll GPS Aiding Almanac Data

81 AID-ALM 0x0B 0x30 1 Poll Request Poll GPS Aiding Almanac Data for a SV

82 AID-ALM 0x0B 0x30 (8) or (40) Input/Output GPS Aiding Almanac Input/Output Message

82 AID-ALPSRV 0x0B 0x32 16 Output ALP client requests AlmanacPlus data from server

83 AID-ALPSRV 0x0B 0x32 16 + 1*dataSize Input ALP server sends AlmanacPlus data to client

84 AID-ALPSRV 0x0B 0x32 8 + 2*size Output ALP client sends AlmanacPlus data to server.

84 AID-ALP 0x0B 0x50 0 + 2*N Input ALP file data transfer to the receiver

85 AID-ALP 0x0B 0x50 1 Input Mark end of data transfer

85 AID-ALP 0x0B 0x50 1 Output Acknowledges a data transfer

86 AID-ALP 0x0B 0x50 1 Output Indicate problems with a data transfer

86 AID-ALP 0x0B 0x50 24 Periodic/Polled Poll the AlmanacPlus status

87 AID-AOP 0x0B 0x33 0 Poll request Poll AssistNow Autonomous data

87 AID-AOP 0x0B 0x33 1 Poll request Poll AssistNow Autonomous data for one satellite

88 AID-AOP 0x0B 0x33 (60) or (204) Input/Output AssistNow Autonomous data

88 AID-DATA 0x0B 0x10 0 Poll Request Polls all GPS Initial Aiding Data

89 AID-EPH 0x0B 0x31 0 Poll Request Poll GPS Aiding Ephemeris Data

89 AID-EPH 0x0B 0x31 1 Poll Request Poll GPS Aiding Ephemeris Data for a SV

89 AID-EPH 0x0B 0x31 (8) or (104) Input/Output GPS Aiding Ephemeris Input/Output Message

90 AID-HUI 0x0B 0x02 0 Poll Request Poll GPS Health, UTC and ionosphere parameters

91 AID-HUI 0x0B 0x02 72 Input/Output GPS Health, UTC and ionosphere parameters

92 AID-INI 0x0B 0x01 0 Poll Request Poll GPS Initial Aiding Data

92 AID-INI 0x0B 0x01 48 Input/Output Aiding position, time, frequency, clock drift

94 AID-REQ 0x0B 0x00 0 Virtual Sends a poll (AID-DATA) for all GPS Aiding Data

UBX Class CFG Configuration Input Messages

95 CFG-ANT 0x06 0x13 0 Poll Request Poll Antenna Control Settings

95 CFG-ANT 0x06 0x13 4 Input/Output Antenna Control Settings

96 CFG-CFG 0x06 0x09 (12) or (13) Command Clear, Save and Load configurations

98 CFG-DAT 0x06 0x06 0 Poll Request Poll Datum Setting

98 CFG-DAT 0x06 0x06 44 Input Set User-defined Datum

99 CFG-DAT 0x06 0x06 52 Output The currently defined Datum

100 CFG-GNSS 0x06 0x3E 0 Poll Request Polls the configuration of the GNSS system configuration

100 CFG-GNSS 0x06 0x3E 4 + 8*numConfigBlocks


Input/Output GNSS system configuration

101 CFG-INF 0x06 0x02 1 Poll Request Poll INF message configuration for one protocol

GPS.G7-SW-12001-B Public Release Page 76 of 196


UBX Messages Overview continued
Page Mnemonic Cls/ID Length Type Description
102 CFG-INF 0x06 0x02 0 + 10*N Input/Output Information message configuration

103 CFG-ITFM 0x06 0x39 0 Poll Request Polls the Jamming/Interference Monitor configuration.

103 CFG-ITFM 0x06 0x39 8 Command Jamming/Interference Monitor configuration.

104 CFG-LOGFILTER 0x06 0x47 0 Poll Request Poll Data Logger filter Configuration

104 CFG-LOGFILTER 0x06 0x47 12 Input/Output Data Logger Configuration

106 CFG-MSG 0x06 0x01 2 Poll Request Poll a message configuration

106 CFG-MSG 0x06 0x01 8 Input/Output Set Message Rate(s)

107 CFG-MSG 0x06 0x01 3 Input/Output Set Message Rate

107 CFG-NAV5 0x06 0x24 0 Poll Request Poll Navigation Engine Settings

107 CFG-NAV5 0x06 0x24 36 Input/Output Navigation Engine Settings

109 CFG-NAVX5 0x06 0x23 0 Poll Request Poll Navigation Engine Expert Settings

109 CFG-NAVX5 0x06 0x23 40 Input/Output Navigation Engine Expert Settings

111 CFG-NMEA 0x06 0x17 0 Poll Request Poll the NMEA protocol configuration

111 CFG-NMEA 0x06 0x17 4 Input/Output NMEA protocol configuration (deprecated)

113 CFG-NMEA 0x06 0x17 12 Input/Output NMEA protocol configuration

115 CFG-NVS 0x06 0x22 13 Command Clear, Save and Load non-volatile storage data

116 CFG-PM2 0x06 0x3B 0 Poll Request Poll extended Power Management configuration

116 CFG-PM2 0x06 0x3B 44 Input/Output Extended Power Management configuration

118 CFG-PRT 0x06 0x00 0 Poll Request Polls the configuration of the used I/O Port

118 CFG-PRT 0x06 0x00 1 Poll Request Polls the configuration for one I/O Port

119 CFG-PRT 0x06 0x00 20 Input/Output Port Configuration for UART

122 CFG-PRT 0x06 0x00 20 Input/Output Port Configuration for USB Port

123 CFG-PRT 0x06 0x00 20 Input/Output Port Configuration for SPI Port

126 CFG-PRT 0x06 0x00 20 Input/Output Port Configuration for DDC Port

128 CFG-RATE 0x06 0x08 0 Poll Request Poll Navigation/Measurement Rate Settings

129 CFG-RATE 0x06 0x08 6 Input/Output Navigation/Measurement Rate Settings

129 CFG-RINV 0x06 0x34 0 Poll Request Poll contents of Remote Inventory

130 CFG-RINV 0x06 0x34 1 + 1*N Input/Output Contents of Remote Inventory

130 CFG-RST 0x06 0x04 4 Command Reset Receiver / Clear Backup Data Structures

132 CFG-RXM 0x06 0x11 0 Poll Request Poll RXM configuration

132 CFG-RXM 0x06 0x11 2 Input/Output RXM configuration

133 CFG-SBAS 0x06 0x16 0 Poll Request Poll contents of SBAS Configuration

133 CFG-SBAS 0x06 0x16 8 Input/Output SBAS Configuration

135 CFG-TP5 0x06 0x31 0 Poll Request Poll Time Pulse Parameters

135 CFG-TP5 0x06 0x31 1 Poll Request Poll Time Pulse Parameters

135 CFG-TP5 0x06 0x31 32 Input/Output Time Pulse Parameters

137 CFG-USB 0x06 0x1B 0 Poll Request Poll a USB configuration

137 CFG-USB 0x06 0x1B 108 Input/Output USB Configuration

GPS.G7-SW-12001-B Public Release Page 77 of 196


UBX Messages Overview continued
Page Mnemonic Cls/ID Length Type Description
UBX Class INF Information Messages

139 INF-DEBUG 0x04 0x04 0 + 1*N Output ASCII String output, indicating debug output

139 INF-ERROR 0x04 0x00 0 + 1*N Output ASCII String output, indicating an error

140 INF-NOTICE 0x04 0x02 0 + 1*N Output ASCII String output, with informational contents

140 INF-TEST 0x04 0x03 0 + 1*N Output ASCII String output, indicating test output

141 INF-WARNING 0x04 0x01 0 + 1*N Output ASCII String output, indicating a warning

UBX Class LOG Logging Messages

142 LOG-CREATE 0x21 0x07 8 Command Create Log File

143 LOG-ERASE 0x21 0x03 0 Command Erase Logged Data

143 LOG-FINDTIME 0x21 0x0E 12 Input Finds the index of the first log entry <= given time

144 LOG-FINDTIME 0x21 0x0E 8 Output This message is the response to FINDTIME request.

144 LOG-INFO 0x21 0x08 0 Poll Request Poll for log information

144 LOG-INFO 0x21 0x08 48 Output Log information

146 LOG-RETRIEVEPOS 0x21 0x0b 40 Output Position fix log entry

147 LOG-RETRIEVESTRING 0x21 0x0d 16 + 1*byteCountOutput Byte string log entry

147 LOG-RETRIEVE 0x21 0x09 12 Command Request log data

148 LOG-STRING 0x21 0x04 0 + 1*N Command Store arbitrary string in on-board Flash memory

UBX Class MON Monitoring Messages

149 MON-HW2 0x0A 0x0B 28 Periodic/Polled Extended Hardware Status

150 MON-HW 0x0A 0x09 60 Periodic/Polled Hardware Status

151 MON-IO 0x0A 0x02 0 + 20*N Periodic/Polled I/O Subsystem Status

152 MON-MSGPP 0x0A 0x06 120 Periodic/Polled Message Parse and Process Status

152 MON-RXBUF 0x0A 0x07 24 Periodic/Polled Receiver Buffer Status

153 MON-RXR 0x0A 0x21 1 Output Receiver Status Information

153 MON-TXBUF 0x0A 0x08 28 Periodic/Polled Transmitter Buffer Status

154 MON-VER 0x0A 0x04 0 Poll Request Poll Receiver/Software Version

155 MON-VER 0x0A 0x04 40 + 30*N Answer to Poll Receiver/Software Version

UBX Class NAV Navigation Results

156 NAV-AOPSTATUS 0x01 0x60 20 Periodic/Polled AssistNow Autonomous Status

157 NAV-CLOCK 0x01 0x22 20 Periodic/Polled Clock Solution

157 NAV-DGPS 0x01 0x31 16 + 12*numCh Periodic/Polled DGPS Data Used for NAV

158 NAV-DOP 0x01 0x04 18 Periodic/Polled Dilution of precision

159 NAV-POSECEF 0x01 0x01 20 Periodic/Polled Position Solution in ECEF

159 NAV-POSLLH 0x01 0x02 28 Periodic/Polled Geodetic Position Solution

160 NAV-PVT 0x01 0x07 84 Periodic/Polled Navigation Position Velocity Time Solution

162 NAV-SBAS 0x01 0x32 12 + 12*cnt Periodic/Polled SBAS Status Data

163 NAV-SOL 0x01 0x06 52 Periodic/Polled Navigation Solution Information

165 NAV-STATUS 0x01 0x03 16 Periodic/Polled Receiver Navigation Status

GPS.G7-SW-12001-B Public Release Page 78 of 196


UBX Messages Overview continued
Page Mnemonic Cls/ID Length Type Description
167 NAV-SVINFO 0x01 0x30 8 + 12*numCh Periodic/Polled Space Vehicle Information

169 NAV-TIMEGPS 0x01 0x20 16 Periodic/Polled GPS Time Solution

170 NAV-TIMEUTC 0x01 0x21 20 Periodic/Polled UTC Time Solution

171 NAV-VELECEF 0x01 0x11 20 Periodic/Polled Velocity Solution in ECEF

171 NAV-VELNED 0x01 0x12 36 Periodic/Polled Velocity Solution in NED

UBX Class RXM Receiver Manager Messages

173 RXM-ALM 0x02 0x30 0 Poll Request Poll GPS Constellation Almanac Data

173 RXM-ALM 0x02 0x30 1 Poll Request Poll GPS Constellation Almanac Data for a SV

174 RXM-ALM 0x02 0x30 (8) or (40) Poll Answer / Periodic GPS Aiding Almanac Input/Output Message

174 RXM-EPH 0x02 0x31 0 Poll Request Poll GPS Constellation Ephemeris Data

175 RXM-EPH 0x02 0x31 1 Poll Request Poll GPS Constellation Ephemeris Data for a SV

175 RXM-EPH 0x02 0x31 (8) or (104) Poll Answer / Periodic GPS Aiding Ephemeris Input/Output Message

176 RXM-PMREQ 0x02 0x41 8 Command Requests a Power Management task

176 RXM-RAW 0x02 0x10 8 + 24*numSV Periodic/Polled Raw Measurement Data

177 RXM-SFRB 0x02 0x11 42 Periodic Subframe Buffer

178 RXM-SVSI 0x02 0x20 8 + 6*numSV Periodic/Polled SV Status Info

UBX Class TIM Timing Messages

180 TIM-TM2 0x0D 0x03 28 Periodic/Polled Time mark data

181 TIM-TP 0x0D 0x01 16 Periodic/Polled Time Pulse Timedata

182 TIM-VRFY 0x0D 0x06 20 Polled/Once Sourced Time Verification

GPS.G7-SW-12001-B Public Release Page 79 of 196


33 ACK (0x05)
Ack/Nack Messages: i.e. as replies to CFG Input Messages.
Messages in this class are sent as a result of a CFG message being received, decoded and processed by the
receiver.
33.1 ACK-ACK (0x05 0x01)
33.1.1 Message Acknowledged
Message ACK-ACK
Description Message Acknowledged
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output
Comment Output upon processing of an input message
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x05 0x01 2 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - clsID - Class ID of the Acknowledged Message
1 U1 - msgID - Message ID of the Acknowledged Message

33.2 ACK-NAK (0x05 0x00)


33.2.1 Message Not-Acknowledged
Message ACK-NAK
Description Message Not-Acknowledged
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output
Comment Output upon processing of an input message
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x05 0x00 2 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - clsID - Class ID of the Not-Acknowledged Message
1 U1 - msgID - Message ID of the Not-Acknowledged Message

GPS.G7-SW-12001-B Public Release Page 80 of 196


34 AID (0x0B)
AssistNow Aiding Messages: i.e. Ephemeris, Almanac, other A-GPS data input.
Messages in this class are used to send aiding data to the receiver.
34.1 AID-ALM (0x0B 0x30)
34.1.1 Poll GPS Aiding Almanac Data
Message AID-ALM
Description Poll GPS Aiding Almanac Data
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment This message has an empty payload!
Poll GPS Aiding Data (Almanac) for all 32 SVs by sending this message to the receiver
without any payload. The receiver will return 32 messages of type AID-ALM as defined
below.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x30 0 see below CK_A CK_B
No payload

34.1.2 Poll GPS Aiding Almanac Data for a SV


Message AID-ALM
Description Poll GPS Aiding Almanac Data for a SV
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment Poll GPS Aiding Data (Almanac) for an SV by sending this message to the receiver. The
receiver will return one message of type AID-ALM as defined below.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x30 1 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - svid - SV ID for which the receiver shall return its
Almanac Data (Valid Range: 1 .. 32 or 51, 56,
63).

GPS.G7-SW-12001-B Public Release Page 81 of 196


34.1.3 GPS Aiding Almanac Input/Output Message
Message AID-ALM
Description GPS Aiding Almanac Input/Output Message
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment • If the WEEK Value is 0, DWRD0 to DWRD7 are not sent as the Almanac is not available
for the given SV. This may happen even if NAV-SVINFO and RXM-SVSI are indicating
almanac availability as the internal data may not represent the content of an original
broadcast almanac (or only parts thereof).
• DWORD0 to DWORD7 contain the 8 words following the Hand-Over Word ( HOW )
from the GPS navigation message, either pages 1 to 24 of sub-frame 5 or pages 2 to 10
of subframe 4. See IS-GPS-200 for a full description of the contents of the Almanac
pages.
• In DWORD0 to DWORD7, the parity bits have been removed, and the 24 bits of data are
located in Bits 0 to 23. Bits 24 to 31 shall be ignored.
• Example: Parameter e (Eccentricity) from Almanac Subframe 4/5, Word 3, Bits 69-84
within the subframe can be found in DWRD0, Bits 15-0 whereas Bit 0 is the LSB.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x30 (8) or (40) see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - svid - SV ID for which this
Almanac Data is (Valid Range: 1 .. 32 or 51, 56,
63).
4 U4 - week - Issue Date of Almanac (GPS week number)
Start of optional block

8 U4[8] - dwrd - Almanac Words


End of optional block

34.2 AID-ALPSRV (0x0B 0x32)


34.2.1 ALP client requests AlmanacPlus data from server
Message AID-ALPSRV
Description ALP client requests AlmanacPlus data from server
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output
Comment This message is sent by the ALP client to the ALP server in order to request data. The given
identifier must be prepended to the requested data when submitting the data.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x32 16 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format

GPS.G7-SW-12001-B Public Release Page 82 of 196


AID-ALPSRV continued
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - idSize bytes Identifier size. This data, beginning at message
start, must prepend the returned data.
1 U1 - type - Requested data type. Must be different from
0xff, otherwise this is not a data request.
2 U2 - ofs - Requested data offset [16bit words]
4 U2 - size - Requested data size [16bit words]
6 U2 - fileId - Unused when requesting data, filled in when
sending back the data
8 U2 - dataSize bytes Actual data size. Unused when requesting data,
filled in when sending back the data.
10 U1 - id1 - Identifier data
11 U1 - id2 - Identifier data
12 U4 - id3 - Identifier data

34.2.2 ALP server sends AlmanacPlus data to client


Message AID-ALPSRV
Description ALP server sends AlmanacPlus data to client
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input
Comment This message is sent by the ALP server to the ALP client and is usually sent in response to a
data request. The server copies the identifier from the request and fills in the dataSize and
fileId fields.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x32 16 + 1*dataSize see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - idSize bytes Identifier size
1 U1 - type - Requested data type
2 U2 - ofs - Requested data offset [16bit words]
4 U2 - size - Requested data size [16bit words]
6 U2 - fileId - Corresponding ALP file ID, must be filled in by
the server!
8 U2 - dataSize bytes Actual data contained in this message, must be
filled in by the server!
10 U1 - id1 - Identifier data
11 U1 - id2 - Identifier data
12 U4 - id3 - Identifier data
Start of repeated block (dataSize times)

16 + 1*N U1 - data - Data for the ALP client


End of repeated block

GPS.G7-SW-12001-B Public Release Page 83 of 196


34.2.3 ALP client sends AlmanacPlus data to server.
Message AID-ALPSRV
Description ALP client sends AlmanacPlus data to server.
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output
Comment This message is sent by the ALP client to the ALP server in order to submit updated data.
The server can either replace the current data at this position or ignore this new data
(which will result in degraded performance).
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x32 8 + 2*size see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - idSize bytes Identifier size
1 U1 - type - Set to 0xff to mark that is *not* a data request
2 U2 - ofs - Data offset [16bit words]
4 U2 - size - Data size [16bit words]
6 U2 - fileId - Corresponding ALP file id
Start of repeated block (size times)

8 + 2*N U2 - data - 16bit word data to be submitted to the ALP


server
End of repeated block

34.3 AID-ALP (0x0B 0x50)


34.3.1 ALP file data transfer to the receiver
Message AID-ALP
Description ALP file data transfer to the receiver
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input
Comment This message is used to transfer a chunk of data from the AlmanacPlus file to the receiver.
Upon reception of this message, the receiver will write the payload data to its internal
non-volatile memory, eventually also erasing that part of the memory first. Make sure that
the payload size is even sized (i.e. always a multiple of 2). Do not use payloads larger than
~ 700 bytes, as this would exceed the receiver's internal buffering capabilities. The receiver
will (not-) acknowledge this message using the message alternatives given below. The host
shall wait for an acknowledge message before sending the next chunk.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x50 0 + 2*N see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
Start of repeated block (N times)

N*2 U2 - alpData - ALP file data

GPS.G7-SW-12001-B Public Release Page 84 of 196


AID-ALP continued
Byte Offset Number Scaling Name Unit Description
Format
End of repeated block

34.3.2 Mark end of data transfer


Message AID-ALP
Description Mark end of data transfer
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input
Comment This message is used to indicate that all chunks have been transferred, and normal receiver
operation can resume. Upon reception of this message, the receiver will verify all chunks
received so far, and enable AssistNow Offline and GPS receiver operation if successful. This
message could also be sent to cancel an incomplete download.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x50 1 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - dummy - Value is ignored

34.3.3 Acknowledges a data transfer


Message AID-ALP
Description Acknowledges a data transfer
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output
Comment This message from the receiver acknowledges successful processing of a previously received
chunk of data with the ``Chunk Transfer`` Message. This message will also be sent once a
``Stop`` message has been received, and the integrity of all chunks received so far has been
checked successfully.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x50 1 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - ack - Set to 0x01

GPS.G7-SW-12001-B Public Release Page 85 of 196


34.3.4 Indicate problems with a data transfer
Message AID-ALP
Description Indicate problems with a data transfer
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output
Comment This message from the receiver indicates that an error has occurred while processing and
storing the data received with the ``Chunk Transfer`` message. This message will also be
sent once a stop command has been received, and the integrity of all chunks received
failed.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x50 1 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - nak - Set to 0x00

34.3.5 Poll the AlmanacPlus status


Message AID-ALP
Description Poll the AlmanacPlus status
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x50 24 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - predTow s Prediction start time of week
4 U4 - predDur s Prediction duration from start of first data set to
end of last data set
8 I4 - age s Current age of ALP data
12 U2 - predWno - Prediction start week number
14 U2 - almWno - Truncated week number of reference almanac
16 U4 - reserved1 - Reserved
20 U1 - svs - Number of satellite data sets contained in the
ALP data
21 U1 - reserved2 - Reserved
22 U2 - reserved3 - Reserved

GPS.G7-SW-12001-B Public Release Page 86 of 196


34.4 AID-AOP (0x0B 0x33)
34.4.1 Poll AssistNow Autonomous data
Message AID-AOP
Description Poll AssistNow Autonomous data
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll request
Comment This message has an empty payload.
Poll AssistNow Autonomous aiding data for all satellits by sending this empty message. The
receiver will return an AID-AOP message (see definition below) for each satellite for which
data is available. For satellites for which no data is available it will return a corresponding
AID-AOP poll request message (see below).
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x33 0 see below CK_A CK_B
No payload

34.4.2 Poll AssistNow Autonomous data for one satellite


Message AID-AOP
Description Poll AssistNow Autonomous data for one satellite
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll request
Comment Poll the AssistNow Autonomous data for the specified satellite. The receiver will return a
AID-AOP message (see definition below) if data is available for the requested satellite. If no
data is available it will return corresponding AID-AOP poll request message (i.e. this
message).
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x33 1 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - svid - GPS SV id for which the data is requested (valid
range: 1..32).

GPS.G7-SW-12001-B Public Release Page 87 of 196


34.4.3 AssistNow Autonomous data
Message AID-AOP
Description AssistNow Autonomous data
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment If enabled, this message is output at irregular intervals. It is output whenever AssistNow
Autonomous has produced new data for a satellite. Depending on the availability of the
optional data the receiver will output either version of the message. If this message is
polled using one of the two poll requests described above the receiver will send this
message if AOP data is available or the corresponding poll request message if no AOP data
is available for each satellite (i.e. svid 1..32). At the user's choice the optional data may be
chopped from the payload of a previously polled message when sending the message back
to the receiver. Sending a valid AID-AOP message to the receiver will automatically enable
the AssistNow Autonomous feature on the receiver. See the section AssistNow
Autonomous in the receiver description for details on this feature.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x33 (60) or (204) see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - svid - GPS SV id
1 U1[59] - data - AssistNow Autonomous data
Start of optional block

60 U1[48] - optional0 - Optional data chunk 1/3


108 U1[48] - optional1 - Optional data chunk 2/3
156 U1[48] - optional2 - Optional data chunk 3/3
End of optional block

34.5 AID-DATA (0x0B 0x10)


34.5.1 Polls all GPS Initial Aiding Data
Message AID-DATA
Description Polls all GPS Initial Aiding Data
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment If this poll is received, the messages AID-INI, AID-HUI, AID-EPH and AID-ALM are sent.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x10 0 see below CK_A CK_B
No payload

GPS.G7-SW-12001-B Public Release Page 88 of 196


34.6 AID-EPH (0x0B 0x31)
34.6.1 Poll GPS Aiding Ephemeris Data
Message AID-EPH
Description Poll GPS Aiding Ephemeris Data
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment This message has an empty payload!
Poll GPS Aiding Data (Ephemeris) for all 32 SVs by sending this message to the receiver
without any payload. The receiver will return 32 messages of type AID-EPH as defined
below.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x31 0 see below CK_A CK_B
No payload

34.6.2 Poll GPS Aiding Ephemeris Data for a SV


Message AID-EPH
Description Poll GPS Aiding Ephemeris Data for a SV
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment Poll GPS Constellation Data (Ephemeris) for an SV by sending this message to the receiver.
The receiver will return one message of type AID-EPH as defined below.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x31 1 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - svid - SV ID for which the receiver shall return its
Ephemeris Data (Valid Range: 1 .. 32).

34.6.3 GPS Aiding Ephemeris Input/Output Message


Message AID-EPH
Description GPS Aiding Ephemeris Input/Output Message
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment • SF1D0 to SF3D7 is only sent if ephemeris is available for this SV. If not, the payload may
be reduced to 8 Bytes, or all bytes are set to zero, indicating that this SV Number does
not have valid ephemeris for the moment. This may happen even if NAV-SVINFO and
RXM-SVSI are indicating ephemeris availability as the internal data may not represent the
content of an original broadcast ephemeris (or only parts thereof).
• SF1D0 to SF3D7 contain the 24 words following the Hand-Over Word ( HOW ) from the
GPS navigation message, subframes 1 to 3. The Truncated TOW Count is not valid and
cannot be used. See IS-GPS-200 for a full description of the contents of the Subframes.

GPS.G7-SW-12001-B Public Release Page 89 of 196


• In SF1D0 to SF3D7, the parity bits have been removed, and the 24 bits of data are
located in Bits 0 to 23. Bits 24 to 31 shall be ignored.
• When polled, the data contained in this message does not represent the full original
ephemeris broadcast. Some fields that are irrelevant to u-blox receivers may be missing.
The week number in Subframe 1 has already been modified to match the Time Of
Ephemeris (TOE).
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x31 (8) or (104) see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - svid - SV ID for which this ephemeris data is (Valid
Range: 1 .. 32).
4 U4 - how - Hand-Over Word of first Subframe. This is
required if data is sent to the receiver.
0 indicates that no Ephemeris Data is following.
Start of optional block

8 U4[8] - sf1d - Subframe 1 Words 3..10 (SF1D0..SF1D7)


40 U4[8] - sf2d - Subframe 2 Words 3..10 (SF2D0..SF2D7)
72 U4[8] - sf3d - Subframe 3 Words 3..10 (SF3D0..SF3D7)
End of optional block

34.7 AID-HUI (0x0B 0x02)


34.7.1 Poll GPS Health, UTC and ionosphere parameters
Message AID-HUI
Description Poll GPS Health, UTC and ionosphere parameters
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment This message has an empty payload!
-
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x02 0 see below CK_A CK_B
No payload

GPS.G7-SW-12001-B Public Release Page 90 of 196


34.7.2 GPS Health, UTC and ionosphere parameters
Message AID-HUI
Description GPS Health, UTC and ionosphere parameters
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment This message contains a health bit mask, UTC time and Klobuchar parameters. For more
information on these parameters, please see the ICD-GPS-200 documentation.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x02 72 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 X4 - health - Bitmask, every bit represenst a GPS SV (1-32). If
the bit is set the SV is healthy.
4 R8 - utcA0 - UTC - parameter A0
12 R8 - utcA1 - UTC - parameter A1
20 I4 - utcTOW - UTC - reference time of week
24 I2 - utcWNT - UTC - reference week number
26 I2 - utcLS - UTC - time difference due to leap seconds
before event
28 I2 - utcWNF - UTC - week number when next leap second
event occurs
30 I2 - utcDN - UTC - day of week when next leap second event
occurs
32 I2 - utcLSF - UTC - time difference due to leap seconds after
event
34 I2 - utcSpare - UTC - Spare to ensure structure is a multiple of
4 bytes
36 R4 - klobA0 s Klobuchar - alpha 0
40 R4 - klobA1 s/semici Klobuchar - alpha 1
rcle
44 R4 - klobA2 s/semici Klobuchar - alpha 2
rcle^2
48 R4 - klobA3 s/semici Klobuchar - alpha 3
rcle^3
52 R4 - klobB0 s Klobuchar - beta 0
56 R4 - klobB1 s/semici Klobuchar - beta 1
rcle
60 R4 - klobB2 s/semici Klobuchar - beta 2
rcle^2
64 R4 - klobB3 s/semici Klobuchar - beta 3
rcle^3
68 X4 - flags - flags (see graphic below)

GPS.G7-SW-12001-B Public Release Page 91 of 196


Bitfield flags
This Graphic explains the bits of flags

Name Description
healthValid Healthmask field in this message is valid
utcValid UTC parameter fields in this message are valid
klobValid Klobuchar parameter fields in this message are valid

34.8 AID-INI (0x0B 0x01)


34.8.1 Poll GPS Initial Aiding Data
Message AID-INI
Description Poll GPS Initial Aiding Data
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment This message has an empty payload!
-
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x01 0 see below CK_A CK_B
No payload

34.8.2 Aiding position, time, frequency, clock drift


Message AID-INI
Description Aiding position, time, frequency, clock drift
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment This message contains position, time and clock drift information. The position can be input
in either the ECEF X/Y/Z coordinate system or as lat/lon/height. The time can either be input
as inexact value via the standard communication interface, suffering from latency
depending on the baudrate, or using harware time synchronization where an accuracte
time pulse is input on the external interrupts. It is also possible to supply hardware
frequency aiding by connecting a continuous signal to an external interrupt.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x01 48 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 I4 - ecefXOrLat cm_or_ WGS84 ECEF X coordinate or latitude,
deg*1e depending on flags below
-7
GPS.G7-SW-12001-B Public Release Page 92 of 196
AID-INI continued
Byte Offset Number Scaling Name Unit Description
Format
4 I4 - ecefYOrLon cm_or_ WGS84 ECEF Y coordinate or longitude,
deg*1e depending on flags below
-7
8 I4 - ecefZOrAlt cm WGS84 ECEF Z coordinate or altitude,
depending on flags below
12 U4 - posAcc cm Position accuracy (stddev)
16 X2 - tmCfg - Time mark configuration (see graphic below)
18 U2 - wnoOrDate week_o Actual week number or yearSince2000/Month
r_year (YYMM), depending on flags below
Month
20 U4 - towOrTime ms_or_ Actual time of week or
dayHou DayOfMonth/Hour/Minute/Second
rMinute (DDHHMMSS), depending on flags below
Sec
24 I4 - towNs ns Fractional part of time of week
28 U4 - tAccMs ms Milliseconds part of time accuracy
32 U4 - tAccNs ns Nanoseconds part of time accuracy
36 I4 - clkDOrFreq ns/s_or Clock drift or frequency, depending on flags
_Hz*1e below
-2
40 U4 - clkDAccOrFreq ns/s_or Accuracy of clock drift or frequency, depending
Acc _ppb on flags below
44 X4 - flags - Bitmask with the following flags (see graphic
below)

Bitfield tmCfg
This Graphic explains the bits of tmCfg

Name Description
fEdge use falling edge (default rising)
tm1 time mark on extint 1 (default extint 0)
f1 frequency on extint 1 (default extint 0)

GPS.G7-SW-12001-B Public Release Page 93 of 196


Bitfield flags
This Graphic explains the bits of flags

Name Description
pos Position is valid
time Time is valid
clockD Clock drift data contains valid clock drift, must not be set together with clockF
tp Use time pulse
clockF Clock drift data contains valid frequency, must not be set together with clockD
lla Position is given in lat/long/alt (default is ECEF)
altInv Altitude is not valid, in case lla was set
prevTm Use time mark received before AID-INI message (default uses mark received after message)
utc Time is given as UTC date/time (default is GPS wno/tow)

34.9 AID-REQ (0x0B 0x00)


34.9.1 Sends a poll (AID-DATA) for all GPS Aiding Data
Message AID-REQ
Description Sends a poll (AID-DATA) for all GPS Aiding Data
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Virtual
Comment AID-REQ is not a message but a placeholder for configuration purposes.
If the virtual AID-REQ is configured to be output (see CFG-MSG), the receiver will output a
request for aiding data (AID-DATA) after a start-up if its internally stored data (position,
time) don't allow it to perform a hot start. If position and time information could be
retrieved from internal storage, no AID-REQ will be sent, even when the receiver is missing
valid ephemeris data. Only GPS orbits are supported for GNSS.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0B 0x00 0 see below CK_A CK_B
No payload

GPS.G7-SW-12001-B Public Release Page 94 of 196


35 CFG (0x06)
Configuration Input Messages: i.e. Set Dynamic Model, Set DOP Mask, Set Baud Rate, etc..
The CFG Class can be used to configure the receiver and read out current configuration values. Any messages
in Class CFG sent to the receiver are acknowledged (with Message ACK-ACK) if processed successfully, and
rejected (with Message ACK-NAK) if processing the message failed.
35.1 CFG-ANT (0x06 0x13)
35.1.1 Poll Antenna Control Settings
Message CFG-ANT
Description Poll Antenna Control Settings
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment Sending this (empty / no-payload) message to the receiver results in the receiver returning a
message of type CFG-ANT with a payload as defined below
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x13 0 see below CK_A CK_B
No payload

35.1.2 Antenna Control Settings


Message CFG-ANT
Description Antenna Control Settings
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x13 4 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 X2 - flags - Antenna Flag Mask (see graphic below)
2 X2 - pins - Antenna Pin Configuration (see graphic below)

Bitfield flags
This Graphic explains the bits of flags

Name Description
svcs Enable Antenna Supply Voltage Control Signal
scd Enable Short Circuit Detection

GPS.G7-SW-12001-B Public Release Page 95 of 196


Bitfield flags Description continued
Name Description
ocd Enable Open Circuit Detection
pdwnOnSCD Power Down Antenna supply if Short Circuit is detected. (only in combination with Bit 1)
recovery Enable automatic recovery from short state

Bitfield pins
This Graphic explains the bits of pins

Name Description
pinSwitch PIO-Pin used for switching antenna supply (internal to TIM-LP/TIM-LF)
pinSCD PIO-Pin used for detecting a short in the antenna supply
pinOCD PIO-Pin used for detecting open/not connected antenna
reconfig if set to one, and this command is sent to the receiver, the receiver will reconfigure the pins as specified.

35.2 CFG-CFG (0x06 0x09)


35.2.1 Clear, Save and Load configurations
Message CFG-CFG
Description Clear, Save and Load configurations
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Command
Comment See the Receiver Configuration chapter for a detailed description on how Receiver
Configuration should be used. The three masks are made up of individual bits, each bit
indicating the sub-section of all configurations on which the corresponding action shall be
carried out. The reserved bits in the masks must be set to '0'. For detailed information
please refer to the Organization of the Configuration Sections. Please note that commands
can be combined. The sequence of execution is Clear, Save, Load
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x09 (12) or (13) see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 X4 - clearMask - Mask with configuration sub-sections to Clear
(=Load Default Configurations to Permanent
Configurations in non-volatile memory) (see
graphic below)
4 X4 - saveMask - Mask with configuration sub-section to Save
(=Save Current Configuration to Non-volatile
Memory), see ID description of clearMask

GPS.G7-SW-12001-B Public Release Page 96 of 196


CFG-CFG continued
Byte Offset Number Scaling Name Unit Description
Format
8 X4 - loadMask - Mask with configuration sub-sections to Load
(=Load Permanent Configurations from
Non-volatile Memory to Current
Configurations), see ID description of clearMask
Start of optional block

12 X1 - deviceMask - Mask which selects the devices for this


command. (see graphic below)
End of optional block

Bitfield clearMask
This Graphic explains the bits of clearMask

Name Description
ioPort Port Settings
msgConf Message Configuration
infMsg INF Message Configuration
navConf Navigation Configuration
rxmConf Receiver Manager Configuration
rinvConf Remote Inventory Configuration
antConf Antenna Configuration

Bitfield deviceMask
This Graphic explains the bits of deviceMask

Name Description
devBBR device battery backed RAM
devFlash device Flash
devEEPROM device EEPROM
devSpiFlash device SPI Flash

GPS.G7-SW-12001-B Public Release Page 97 of 196


35.3 CFG-DAT (0x06 0x06)
35.3.1 Poll Datum Setting
Message CFG-DAT
Description Poll Datum Setting
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment Upon sending of this message, the receiver returns CFG-DAT as defined below
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x06 0 see below CK_A CK_B
No payload

35.3.2 Set User-defined Datum


Message CFG-DAT
Description Set User-defined Datum
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x06 44 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 R8 - majA m Semi-major Axis ( accepted range = 6,300,000.0
to 6,500,000.0 metres ).
8 R8 - flat - 1.0 / Flattening ( accepted range is 0.0 to 500.0
).
16 R4 - dX m X Axis shift at the origin ( accepted range is +/-
5000.0 metres ).
20 R4 - dY m Y Axis shift at the origin ( accepted range is +/-
5000.0 metres ).
24 R4 - dZ m Z Axis shift at the origin ( accepted range is +/-
5000.0 metres ).
28 R4 - rotX s Rotation about the X Axis ( accepted range is
+/- 20.0 milli-arc seconds ).
32 R4 - rotY s Rotation about the Y Axis ( accepted range is
+/- 20.0 milli-arc seconds ).
36 R4 - rotZ s Rotation about the Z Axis ( accepted range is +/-
20.0 milli-arc seconds ).
40 R4 - scale ppm Scale change ( accepted range is 0.0 to 50.0
parts per million ).

GPS.G7-SW-12001-B Public Release Page 98 of 196


35.3.3 The currently defined Datum
Message CFG-DAT
Description The currently defined Datum
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output
Comment Returns the parameters of the currently defined datum. If no user-defined datum has been
set, this will default to WGS84.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x06 52 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U2 - datumNum - Datum Number: 0 = WGS84, -1 = user-defined
2 CH[6] - datumName - ASCII String: WGS84 or USER
8 R8 - majA m Semi-major Axis ( accepted range = 6,300,000.0
to 6,500,000.0 metres ).
16 R8 - flat - 1.0 / Flattening ( accepted range is 0.0 to 500.0
).
24 R4 - dX m X Axis shift at the origin ( accepted range is +/-
5000.0 metres ).
28 R4 - dY m Y Axis shift at the origin ( accepted range is +/-
5000.0 metres ).
32 R4 - dZ m Z Axis shift at the origin ( accepted range is +/-
5000.0 metres ).
36 R4 - rotX s Rotation about the X Axis ( accepted range is
+/- 20.0 milli-arc seconds ).
40 R4 - rotY s Rotation about the Y Axis ( accepted range is
+/- 20.0 milli-arc seconds ).
44 R4 - rotZ s Rotation about the Z Axis ( accepted range is +/-
20.0 milli-arc seconds ).
48 R4 - scale ppm Scale change ( accepted range is 0.0 to 50.0
parts per million ).

GPS.G7-SW-12001-B Public Release Page 99 of 196


35.4 CFG-GNSS (0x06 0x3E)
35.4.1 Polls the configuration of the GNSS system configuration
Message CFG-GNSS
Description Polls the configuration of the GNSS system configuration
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment Polls the configuration of the GNSS system configuration
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x3E 0 see below CK_A CK_B
No payload

35.4.2 GNSS system configuration


Message CFG-GNSS
Description GNSS system configuration
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment Gets or sets the GNSS system channel sharing configuration. The receiver will send an
UBX-ACK-ACK message if the configuration is valid, an UBX-ACK-NAK if any configuration
parameter is invalid.
The number of tracking channels in use must not exceed the number of tracking channels
available on hardware, and the sum of all reserved tracking channels needs to be smaller or
equal the number of tracking channels in use. Additionally, the maximum number of
tracking channels used for the specific GNSS system must be greater or equal to the
number of reserved tracking channels.
See section GNSS Configuration for a discussion of the use of this message and section
Satellite Numbering for a description of the GNSS IDs available.
Configuration specific to the GNSS system can be done via other messages. Configuration
specific to SBAS can be done with CFG-SBAS.
Note that GLONASS operation cannot be selected when the receiver is configured to
operate in Power Save Mode (using CFG-RXM).
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x3E 4 + 8*numConfigBlocks see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - msgVer - Message version (=0 for this version)
1 U1 - numTrkChHw - Number of tracking channels available in
hardware (read only)
2 U1 - numTrkChUse - Number of tracking channels to use (<=
numTrkChHw)
3 U1 - numConfigBloc - Number of configuration blocks following
ks
Start of repeated block (numConfigBlocks times)

4 + 8*N U1 - gnssId - GNSS identifier (see Satellite Numbering)


GPS.G7-SW-12001-B Public Release Page 100 of 196
CFG-GNSS continued
Byte Offset Number Scaling Name Unit Description
Format
5 + 8*N U1 - resTrkCh - Number of reserved (minimum) tracking
channels for this GNSS system
6 + 8*N U1 - maxTrkCh - Maximum number of tracking channels used for
this GNSS system (>=resTrkChn)
7 + 8*N U1 - reserved1 - Reserved
8 + 8*N X4 - flags - bitfield of flags (see graphic below)
End of repeated block

Bitfield flags
This Graphic explains the bits of flags

Name Description
enable Enable this GNSS system

35.5 CFG-INF (0x06 0x02)


35.5.1 Poll INF message configuration for one protocol
Message CFG-INF
Description Poll INF message configuration for one protocol
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x02 1 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - protocolID - Protocol Identifier, identifying the output
protocol for this Poll Request. The following are
valid Protocol Identifiers:
0: UBX Protocol
1: NMEA Protocol
2-255: Reserved

GPS.G7-SW-12001-B Public Release Page 101 of 196


35.5.2 Information message configuration
Message CFG-INF
Description Information message configuration
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment The value of infMsgMask[x] below are that each bit represents one of the INF class
messages (Bit 0 for ERROR, Bit 1 for WARNING and so on.). For a complete list, please see
the Message Class INF. Several configurations can be concatenated to one input
message. In this case the payload length can be a multiple of the normal length. Output
messages from the module contain only one configuration unit. Please note that I/O Ports 1
and 2 correspond to serial ports 1 and 2. I/O port 0 is DDC. I/O port 3 is USB. I/O port 4 is
SPI. I/O port 5 is reserved for future use.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x02 0 + 10*N see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
Start of repeated block (N times)

N*10 U1 - protocolID - Protocol Identifier, identifying for which


protocol the configuration is set/get. The
following are valid Protocol Identifiers:
0: UBX Protocol
1: NMEA Protocol
2-255: Reserved
1 + 10*N U1 - reserved0 - Reserved
2 + 10*N U2 - reserved1 - Reserved
4 + 10*N X1[6] - infMsgMask - A bit mask, saying which information messages
are enabled on each I/O port (see graphic below
)
End of repeated block

Bitfield infMsgMask
This Graphic explains the bits of infMsgMask

GPS.G7-SW-12001-B Public Release Page 102 of 196


35.6 CFG-ITFM (0x06 0x39)
35.6.1 Polls the Jamming/Interference Monitor configuration.
Message CFG-ITFM
Description Polls the Jamming/Interference Monitor configuration.
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x39 0 see below CK_A CK_B
No payload

35.6.2 Jamming/Interference Monitor configuration.


Message CFG-ITFM
Description Jamming/Interference Monitor configuration.
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Command
Comment Configuration of Jamming/Interference monitor.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x39 8 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 X4 - config - interference config word. (see graphic below)
4 X4 - config2 - extra settings for jamming/interference monitor
(see graphic below)

Bitfield config
This Graphic explains the bits of config

Name Description
bbThreshold Broadband jamming detection threshold (unit = dB)
cwThreshold CW jamming detection threshold (unit = dB)
reserved1 reserved algorithm settings - should be set to 0x16B156 in hex for correct settings
enable enable interference detection

GPS.G7-SW-12001-B Public Release Page 103 of 196


Bitfield config2
This Graphic explains the bits of config2

Name Description
reserved2 should be set to 0x31E in hex for correct setting
antSetting antennaSetting, 0=unknown, 1=passive, 2=active
reserved3 reserved, set to 0

35.7 CFG-LOGFILTER (0x06 0x47)


35.7.1 Poll Data Logger filter Configuration
Message CFG-LOGFILTER
Description Poll Data Logger filter Configuration
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment Upon sending of this message, the receiver returns CFG-LOGFILTER as defined below
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x47 0 see below CK_A CK_B
No payload

35.7.2 Data Logger Configuration


Message CFG-LOGFILTER
Description Data Logger Configuration
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment This message is used to enable/disable logging and to get or set the position entry filter
settings.
Position entries can be filtered based on time difference, position difference or current
speed thresholds. Position and speed filtering also have a minimum time interval.
A position is logged if any of the thresholds are exceeded. If a threshold is set to zero it is
ignored. The maximum rate of position logging is 1Hz.
The filter settings will only be applied if the 'applyAllFilterSettings' flag is set. This enables
recording to be enabled/disabled without affecting the other settings.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x47 12 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - version - The version of this message. Set to 1
1 X1 - flags - Flags (see graphic below)
GPS.G7-SW-12001-B Public Release Page 104 of 196
CFG-LOGFILTER continued
Byte Offset Number Scaling Name Unit Description
Format
2 U2 - minInterval s Minimum time interval between logged
positions (0 = not set). This is only applied in
combination with the speed and/or
position thresholds
4 U2 - timeThreshold s If the time difference is greater than the
threshold then the position is logged (0 = not
set).
6 U2 - speedThreshol m/s If the current speed is greater than the
d threshold then the position is logged (0 = not
set). minInterval also applies
8 U4 - positionThres m If the 3D position difference is greater than the
hold threshold then the position is logged (0 = not
set). minInterval also applies

Bitfield flags
This Graphic explains the bits of flags

Name Description
recordEnabled 1 = enable recording, 0 = disable recording
psmOncePerWak 1 = enable recording only one single position per PSM on/off mode wake up period, 0 = disable once per wake up
upEnabled
applyAllFilte 1 = apply all filter settings, 0 = only apply recordEnabled
rSettings

GPS.G7-SW-12001-B Public Release Page 105 of 196


35.8 CFG-MSG (0x06 0x01)
35.8.1 Poll a message configuration
Message CFG-MSG
Description Poll a message configuration
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x01 2 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - msgClass - Message Class
1 U1 - msgID - Message Identifier

35.8.2 Set Message Rate(s)


Message CFG-MSG
Description Set Message Rate(s)
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment Set/Get message rate configuration (s) to/from the receiver. See also section How to change
between protocols.
• Send rate is relative to the event a message is registered on. For example, if the rate of a
navigation message is set to 2, the message is sent every second navigation solution. For
configuring NMEA messages, the section NMEA Messages Overview describes Class and
Identifier numbers used.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x01 8 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - msgClass - Message Class
1 U1 - msgID - Message Identifier
2 U1[6] - rate - Send rate on I/O Port (6 Ports)

GPS.G7-SW-12001-B Public Release Page 106 of 196


35.8.3 Set Message Rate
Message CFG-MSG
Description Set Message Rate
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment Set message rate configuration for the current port. See also section How to change
between protocols.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x01 3 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - msgClass - Message Class
1 U1 - msgID - Message Identifier
2 U1 - rate - Send rate on current Port

35.9 CFG-NAV5 (0x06 0x24)


35.9.1 Poll Navigation Engine Settings
Message CFG-NAV5
Description Poll Navigation Engine Settings
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment Sending this (empty / no-payload) message to the receiver results in the receiver returning a
message of type CFG-NAV5 with a payload as defined below.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x24 0 see below CK_A CK_B
No payload

35.9.2 Navigation Engine Settings


Message CFG-NAV5
Description Navigation Engine Settings
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment See the Navigation Configuration Settings Description for a detailed description of how
these settings affect receiver operation.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x24 36 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 X2 - mask - Parameters Bitmask. Only the masked
parameters will be applied. (see graphic below)

GPS.G7-SW-12001-B Public Release Page 107 of 196


CFG-NAV5 continued
Byte Offset Number Scaling Name Unit Description
Format
2 U1 - dynModel - Dynamic Platform model:
0 Portable
2 Stationary
3 Pedestrian
4 Automotive
5 Sea
6 Airborne with <1g Acceleration
7 Airborne with <2g Acceleration
8 Airborne with <4g Acceleration
3 U1 - fixMode - Position Fixing Mode.
1: 2D only
2: 3D only
3: Auto 2D/3D
4 I4 0.01 fixedAlt m Fixed altitude (mean sea level) for 2D fix mode.
8 U4 0.0001 fixedAltVar m^2 Fixed altitude variance for 2D mode.
12 I1 - minElev deg Minimum Elevation for a GNSS satellite to be
used in NAV
13 U1 - drLimit s Reserved
14 U2 0.1 pDop - Position DOP Mask to use
16 U2 0.1 tDop - Time DOP Mask to use
18 U2 - pAcc m Position Accuracy Mask
20 U2 - tAcc m Time Accuracy Mask
22 U1 - staticHoldThr cm/s Static hold threshold
esh
23 U1 - dgpsTimeOut s DGPS timeout.
24 U1 - cnoThreshNumS - Number of satellites required to have C/N0
Vs above cnoThresh for a fix to be attempted
25 U1 - cnoThresh dBHz C/N0 threshold for deciding whether to attempt
a fix
26 U2 - reserved2 - Always set to zero
28 U4 - reserved3 - Always set to zero
32 U4 - reserved4 - Always set to zero

Bitfield mask
This Graphic explains the bits of mask

Name Description
dyn Apply dynamic model settings
GPS.G7-SW-12001-B Public Release Page 108 of 196
Bitfield mask Description continued
Name Description
minEl Apply minimum elevation settings
posFixMode Apply fix mode settings
drLim Reserved
posMask Apply position mask settings
timeMask Apply time mask settings
staticHoldMas Apply static hold settings
k
dgpsMask Apply DGPS settings.
reservedBit0 reserved

35.10 CFG-NAVX5 (0x06 0x23)


35.10.1 Poll Navigation Engine Expert Settings
Message CFG-NAVX5
Description Poll Navigation Engine Expert Settings
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment Sending this (empty / no-payload) message to the receiver results in the receiver returning a
message of type CFG-NAVX5 with a payload as defined below.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x23 0 see below CK_A CK_B
No payload

35.10.2 Navigation Engine Expert Settings


Message CFG-NAVX5
Description Navigation Engine Expert Settings
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x23 40 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U2 - version - Message version (0 for this version)
2 X2 - mask1 - First Parameters Bitmask. Only the flagged
parameters will be applied, unused bits must be
set to 0. (see graphic below)
4 U4 - reserved0 - Always set to zero
8 U1 - reserved1 - Always set to zero
9 U1 - reserved2 - Always set to zero
10 U1 - minSVs #SVs Minimum number of satellites for navigation
11 U1 - maxSVs #SVs Maximum number of satellites for navigation

GPS.G7-SW-12001-B Public Release Page 109 of 196


CFG-NAVX5 continued
Byte Offset Number Scaling Name Unit Description
Format
12 U1 - minCNO dBHz Minimum satellite signal level for navigation
13 U1 - reserved5 - Always set to zero
14 U1 - iniFix3D - Initial Fix must be 3D flag (0=false/1=true)
15 U1 - reserved6 - Always set to zero
16 U1 - reserved7 - Always set to zero
17 U1 - reserved8 - Always set to zero
18 U2 - wknRollover - GPS week rollover number; GPS week numbers
will be set correctly from this week up to 1024
weeks after this week. Setting this to 0 reverts
to firmware default.
20 U4 - reserved9 - Always set to zero
24 U1 - reserved10 - Always set to zero
25 U1 - reserved11 - Always set to zero
26 U1 - usePPP - Only supported on certain product variants
use Precise Point Positioning flag
(0=false/1=true)
27 U1 - aopCfg - AssistNow Autonomous configuration (see
graphic below)
28 U1 - reserved12 - Always set to zero
29 U1 - reserved13 - Always set to zero
30 U2 - aopOrbMaxErr m maximum acceptable (modelled) AssistNow
Autonomous orbit error (valid range = 5..1000,
or 0 = reset to firmware default)
32 U1 - reserved14 - Always set to zero
33 U1 - reserved15 - Always set to zero
34 U2 - reserved3 - Always set to zero
36 U4 - reserved4 - Always set to zero

Bitfield mask1
This Graphic explains the bits of mask1

Name Description
minMax Apply min/max SVs settings
minCno Apply minimum C/N0 setting
initial3dfix Apply initial 3D fix settings
wknRoll Apply GPS weeknumber rollover settings
ppp Only supported on certain product variants
Apply PPP flag

GPS.G7-SW-12001-B Public Release Page 110 of 196


Bitfield mask1 Description continued
Name Description
aop Apply useAOP flag and aopOrbMaxErr setting (AssistNow Autonomous)

Bitfield aopCfg
This Graphic explains the bits of aopCfg

Name Description
useAOP AOP enabled flag

35.11 CFG-NMEA (0x06 0x17)


35.11.1 Poll the NMEA protocol configuration
Message CFG-NMEA
Description Poll the NMEA protocol configuration
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x17 0 see below CK_A CK_B
No payload

35.11.2 NMEA protocol configuration (deprecated)


Message CFG-NMEA
Description NMEA protocol configuration (deprecated)
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment This message version is provided for backwards compatibility only. Please use the
alternative UBX-CFG-NMEA message instead
Set/Get the NMEA protocol configuration. See section NMEA Protocol Configuration for a
detailed description of the configuration effects on NMEA output.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x17 4 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 X1 - filter - filter flags (see graphic below)
1 U1 - nmeaVersion - 0x23 = NMEA version 2.3
0x21 = NMEA version 2.1

GPS.G7-SW-12001-B Public Release Page 111 of 196


CFG-NMEA continued
Byte Offset Number Scaling Name Unit Description
Format
2 U1 - numSV - Maximum Number of SVs to report in NMEA
protocol (0 = unlimited).
This does not affect the receiver's operation.
It only limits the number of SVs reported in
NMEA mode (this might be needed with older
mapping applications which only support 8- or
12-channel receivers).
3 X1 - flags - flags (see graphic below)

Bitfield filter
This Graphic explains the bits of filter

Name Description
posFilt Enable position output for failed or invalid fixes
mskPosFilt Enable position output for invalid fixes
timeFilt Enable time output for invalid times
dateFilt Enable date output for invalid dates
gpsOnlyFilter Restrict output to GPS satellites only
trackFilt Enable COG output even if COG is frozen

Bitfield flags
This Graphic explains the bits of flags

Name Description
compat enable compatibility mode.
This might be needed for certain applications when customer's NMEA parser expects a fixed number of digits in
position coordinates
consider enable considering mode.

GPS.G7-SW-12001-B Public Release Page 112 of 196


35.11.3 NMEA protocol configuration
Message CFG-NMEA
Description NMEA protocol configuration
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment Set/Get the NMEA protocol configuration. See section NMEA Protocol Configuration for a
detailed description of the configuration effects on NMEA output.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x17 12 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 X1 - filter - filter flags (see graphic below)
1 U1 - nmeaVersion - 0x23 = NMEA version 2.3
0x21 = NMEA version 2.1
2 U1 - numSV - Maximum Number of SVs to report in NMEA
protocol.
This does not affect the receiver's operation.
It only limits the number of SVs reported in
NMEA mode (this might be needed with older
mapping applications which only support 8- or
12-channel receivers).
3 X1 - flags - flags (see graphic below)
4 X4 - gnssToFilter - Filters out satellites based on their GNSS. If a
bitfield is enabled, the corresponding satellites
will be not output. (see graphic below)
8 U1 - svNumbering - Configures the display of satellites that do not
have an NMEA-defined value.
Note: this does not apply to satellites with an
unknown ID.
0: Strict - Satellites are not output
1: Extended - Use UBX proprietary numbering
(see Satellite numbering)
9 U1 - mainTalkerId - By default the main Talker ID (i.e. the Talker ID
used for all messages other than GSV) is
determined by the GNSS assignment of the
receiver's channels (see UBX-CFG-GNSS).
This field enables the main Talker ID to be
overridden.
0: Main Talker ID is not overridden
1: Set main Talker ID to 'GP'
2: Set main Talker ID to 'GL'
3: Set main Talker ID to 'GN'

GPS.G7-SW-12001-B Public Release Page 113 of 196


CFG-NMEA continued
Byte Offset Number Scaling Name Unit Description
Format
10 U1 - gsvTalkerId - By default the Talker ID for GSV messages is
GNSS specific (as defined by NMEA).
This field enables the GSV Talker ID to be
overridden.
0: Use GNSS specific Talker ID (as defined by
NMEA)
1: Use the main Talker ID
11 U1 - reserved - Reserved, always set to 0

Bitfield filter
This Graphic explains the bits of filter

Name Description
posFilt Enable position output for failed or invalid fixes
mskPosFilt Enable position output for invalid fixes
timeFilt Enable time output for invalid times
dateFilt Enable date output for invalid dates
gpsOnlyFilter Restrict output to GPS satellites only
trackFilt Enable COG output even if COG is frozen

Bitfield flags
This Graphic explains the bits of flags

Name Description
compat enable compatibility mode.
This might be needed for certain applications when customer's NMEA parser expects a fixed number of digits in
position coordinates
consider enable considering mode.

GPS.G7-SW-12001-B Public Release Page 114 of 196


Bitfield gnssToFilter
This Graphic explains the bits of gnssToFilter

Name Description
gps Disable reporting of GPS satellites
sbas Disable reporting of SBAS satellites
qzss Disable reporting of QZSS satellites
glonass Disable reporting of GLONASS satellites

35.12 CFG-NVS (0x06 0x22)


35.12.1 Clear, Save and Load non-volatile storage data
Message CFG-NVS
Description Clear, Save and Load non-volatile storage data
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Command
Comment Three masks are made up of individual bits that indicate which data is to be cleared, saved
and/or loaded. The fourth mask defines on which devices the corresponding action shall be
carried out. Please note that only one command should be flagged at once. Otherwise all
commands are processed in the order Clear, Save, and Load. All reserved bits must be set
to zero.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x22 13 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 X4 - clearMask - Mask of data to be cleared (see graphic below)
4 X4 - saveMask - Mask of data to be saved, uses the same bits as
the clearMask
8 X4 - loadMask - Mask of data to be loaded, uses the same bits
as the clearMask
12 X1 - deviceMask - Mask of devices to consider (default: all devices)
(see graphic below)

Bitfield clearMask
This Graphic explains the bits of clearMask

Name Description
alm GPS Almanac data
GPS.G7-SW-12001-B Public Release Page 115 of 196
Bitfield clearMask Description continued
Name Description
aop AOP data

Bitfield deviceMask
This Graphic explains the bits of deviceMask

Name Description
devBBR built-in battery-backed RAM
devFlash external flash memory
devEEPROM external EEPROM
devSpiFlash external SPI Flash

35.13 CFG-PM2 (0x06 0x3B)


35.13.1 Poll extended Power Management configuration
Message CFG-PM2
Description Poll extended Power Management configuration
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x3B 0 see below CK_A CK_B
No payload

35.13.2 Extended Power Management configuration


Message CFG-PM2
Description Extended Power Management configuration
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x3B 44 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - version - Message version (1 for this version)
1 U1 - reserved1 - Reserved
2 U1 - reserved2 - Reserved
GPS.G7-SW-12001-B Public Release Page 116 of 196
CFG-PM2 continued
Byte Offset Number Scaling Name Unit Description
Format
3 U1 - reserved3 - Reserved
4 X4 - flags - PSM configuration flags (see graphic below)
8 U4 - updatePeriod ms Position update period. If set to 0, the receiver
will never retry a fix
12 U4 - searchPeriod ms Acquisition retry period. If set to 0, the receiver
will never retry a startup
16 U4 - gridOffset ms Grid offset relative to GPS start of week
20 U2 - onTime s on time after first successful fix
22 U2 - minAcqTime s minimal search time
24 U2 - reserved4 - Reserved
26 U2 - reserved5 - Reserved
28 U4 - reserved6 - Reserved
32 U4 - reserved7 - Reserved
36 U1 - reserved8 - Reserved
37 U1 - reserved9 - Reserved
38 U2 - reserved10 - Reserved
40 U4 - reserved11 - Reserved

Bitfield flags
This Graphic explains the bits of flags

Name Description
reserved Reserved: Must be set to '000'
extintSelect EXTINT Pin Select
0 EXTINT0
1 EXTINT1
extintWake EXTINT Pin Control
0 disabled
1 enabled, keep receiver awake as long as selected EXTINT pin is 'high'
extintBackup EXTINT Pin Control
0 disabled
1 enabled, force receiver into BACKUP mode when selected EXTINT pin is 'low'
limitPeakCurr Limit Peak Current
00 disabled
01 enabled, peak current is limited
10 reserved
11 reserved

GPS.G7-SW-12001-B Public Release Page 117 of 196


Bitfield flags Description continued
Name Description
WaitTimeFix Wait for Timefix
0 wait for normal Fix ok, before starting on-time
1 wait for time fix ok, before starting on-time
updateRTC Update Real Time Clock
0 Do not wake-up to update RTC. RTC is updated during normal on-time.
1 Update RTC. The receiver adds extra wake-up cycles to update the RTC.
updateEPH Update Ephemeris
0 Do not wake-up to update Ephemeris data
1 Update Ephemeris. The receiver adds extra wake-up cycles to update the Ephemeris data
doNotEnterOff Behavior of receiver in case of no fix
0 receiver enters inactive for search state
1 receiver does not enter inactive for search state but keeps trying to acquire a fix instead
mode Mode of operation
00 ON/OFF operation
01 Cyclic tracking operation
10 reserved
11 reserved

35.14 CFG-PRT (0x06 0x00)


35.14.1 Polls the configuration of the used I/O Port
Message CFG-PRT
Description Polls the configuration of the used I/O Port
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment Polls the configuration of the I/O Port on which this message is received
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x00 0 see below CK_A CK_B
No payload

35.14.2 Polls the configuration for one I/O Port


Message CFG-PRT
Description Polls the configuration for one I/O Port
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment Sending this message with a port ID as payload results in having the receiver return the
configuration for the specified port.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x00 1 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format

GPS.G7-SW-12001-B Public Release Page 118 of 196


CFG-PRT continued
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - PortID - Port Identifier Number (see the other versions of
CFG-PRT for valid values)

35.14.3 Port Configuration for UART


Message CFG-PRT
Description Port Configuration for UART
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment Several configurations can be concatenated to one input message. In this case the payload
length can be a multiple of the normal length (see the other versions of CFG-PRT). Output
messages from the module contain only one configuration unit.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x00 20 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - portID - Port Identifier Number (see Serial
Communication Ports Description for valid UART
port IDs)
1 U1 - reserved0 - Reserved
2 X2 - txReady - TX ready PIN configuration (see graphic below)
4 X4 - mode - A bit mask describing the UART mode (see
graphic below)
8 U4 - baudRate Bits/s Baudrate in bits/second
12 X2 - inProtoMask - A mask describing which input protocols are
active.
Each bit of this mask is used for a protocol.
Through that, multiple protocols can be defined
on a single port. (see graphic below)
14 X2 - outProtoMask - A mask describing which output protocols are
active.
Each bit of this mask is used for a protocol.
Through that, multiple protocols can be defined
on a single port. (see graphic below)
16 X2 - flags - Flags bit mask (see graphic below)
18 U2 - reserved5 - Always set to zero

GPS.G7-SW-12001-B Public Release Page 119 of 196


Bitfield txReady
This Graphic explains the bits of txReady

Name Description
en Enable TX ready feature for this port
pol Polarity
0 High-active
1 Low-active
pin PIO to be used (must not be in use already by another function)
thres Threshold
The given threshold is multiplied by 8 bytes.
The TX ready PIN goes active after >= thres*8 bytes are pending for the port and going inactive after the last
pending bytes have been written to hardware (0-4 bytes before end of stream).
0x000 no threshold
0x001 8byte
0x002 16byte
...
0x1FE 4080byte
0x1FF 4088byte

Bitfield mode
This Graphic explains the bits of mode

Name Description
reserved1 Default 1 for compatibility with A4
charLen Character Length
00 5bit (not supported)
01 6bit (not supported)
10 7bit (supported only with parity)
11 8bit
parity 000 Even Parity
001 Odd Parity
10X No Parity
X1X Reserved

GPS.G7-SW-12001-B Public Release Page 120 of 196


Bitfield mode Description continued
Name Description
nStopBits Number of Stop Bits
00 1 Stop Bit
01 1.5 Stop Bit
10 2 Stop Bit
11 0.5 Stop Bit

Bitfield inProtoMask
This Graphic explains the bits of inProtoMask

Bitfield outProtoMask
This Graphic explains the bits of outProtoMask

Bitfield flags
This Graphic explains the bits of flags

Name Description
extendedTxTim Extended TX timeout: if set, the port will timeout if allocated TX memory >=4 kB and no activity for 1.5s.
eout

GPS.G7-SW-12001-B Public Release Page 121 of 196


35.14.4 Port Configuration for USB Port
Message CFG-PRT
Description Port Configuration for USB Port
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment Several configurations can be concatenated to one input message. In this case the payload
length can be a multiple of the normal length (see the other versions of CFG-PRT). Output
messages from the module contain only one configuration unit.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x00 20 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - portID - Port Identifier Number (= 3 for USB port)
1 U1 - reserved0 - Reserved
2 X2 - txReady - TX ready PIN configuration (see graphic below)
4 U4 - reserved2 - Reserved
8 U4 - reserved3 - Reserved
12 X2 - inProtoMask - A mask describing which input protocols are
active.
Each bit of this mask is used for a protocol.
Through that, multiple protocols can be defined
on a single port. (see graphic below)
14 X2 - outProtoMask - A mask describing which output protocols are
active.
Each bit of this mask is used for a protocol.
Through that, multiple protocols can be defined
on a single port. (see graphic below)
16 U2 - reserved4 - Always set to zero
18 U2 - reserved5 - Always set to zero

Bitfield txReady
This Graphic explains the bits of txReady

Name Description
en Enable TX ready feature for this port
pol Polarity
0 High-active
1 Low-active
pin PIO to be used (must not be in use already by another function)

GPS.G7-SW-12001-B Public Release Page 122 of 196


Bitfield txReady Description continued
Name Description
thres Threshold
The given threshold is multiplied by 8 bytes.
The TX ready PIN goes active after >= thres*8 bytes are pending for the port and going inactive after the last
pending bytes have been written to hardware (0-4 bytes before end of stream).
0x000 no threshold
0x001 8byte
0x002 16byte
...
0x1FE 4080byte
0x1FF 4088byte

Bitfield inProtoMask
This Graphic explains the bits of inProtoMask

Bitfield outProtoMask
This Graphic explains the bits of outProtoMask

35.14.5 Port Configuration for SPI Port


Message CFG-PRT
Description Port Configuration for SPI Port
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment Several configurations can be concatenated to one input message. In this case the payload
length can be a multiple of the normal length (see the other versions of CFG-PRT). Output
messages from the module contain only one configuration unit.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x00 20 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - portID - Port Identifier Number (= 4 for SPI port)
1 U1 - reserved0 - Reserved

GPS.G7-SW-12001-B Public Release Page 123 of 196


CFG-PRT continued
Byte Offset Number Scaling Name Unit Description
Format
2 X2 - txReady - TX ready PIN configuration (see graphic below)
4 X4 - mode - SPI Mode Flags (see graphic below)
8 U4 - reserved3 - Reserved
12 X2 - inProtoMask - A mask describing which input protocols are
active.
Each bit of this mask is used for a protocol.
Through that, multiple protocols can be defined
on a single port. (see graphic below)
14 X2 - outProtoMask - A mask describing which output protocols are
active.
Each bit of this mask is used for a protocol.
Through that, multiple protocols can be defined
on a single port. (see graphic below)
16 X2 - flags - Flags bit mask (see graphic below)
18 U2 - reserved5 - Always set to zero

Bitfield txReady
This Graphic explains the bits of txReady

Name Description
en Enable TX ready feature for this port
pol Polarity
0 High-active
1 Low-active
pin PIO to be used (must not be in use already by another function)
thres Threshold
The given threshold is multiplied by 8 bytes.
The TX ready PIN goes active after >= thres*8 bytes are pending for the port and going inactive after the last
pending bytes have been written to hardware (0-4 bytes before end of stream).
0x000 no threshold
0x001 8byte
0x002 16byte
...
0x1FE 4080byte
0x1FF 4088byte

GPS.G7-SW-12001-B Public Release Page 124 of 196


Bitfield mode
This Graphic explains the bits of mode

Name Description
spiMode 00 SPI Mode 0: CPOL = 0, CPHA = 0
01 SPI Mode 1: CPOL = 0, CPHA = 1
10 SPI Mode 2: CPOL = 1, CPHA = 0
11 SPI Mode 3: CPOL = 1, CPHA = 1
flowControl (u-blox 6 only)
0 Flow control disabled
1 Flow control enabled (9-bit mode)
ffCnt Number of bytes containing 0xFF to receive before switching off reception. Range: 0(mechanism off)-255

Bitfield inProtoMask
This Graphic explains the bits of inProtoMask

Bitfield outProtoMask
This Graphic explains the bits of outProtoMask

GPS.G7-SW-12001-B Public Release Page 125 of 196


Bitfield flags
This Graphic explains the bits of flags

Name Description
extendedTxTim Extended TX timeout: if set, the port will timeout if allocated TX memory >=4 kB and no activity for 1.5s.
eout

35.14.6 Port Configuration for DDC Port


Message CFG-PRT
Description Port Configuration for DDC Port
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment Several configurations can be concatenated to one input message. In this case the payload
length can be a multiple of the normal length (see the other versions of CFG-PRT). Output
messages from the module contain only one configuration unit.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x00 20 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - portID - Port Identifier Number (= 0 for DDC port)
1 U1 - reserved0 - Reserved
2 X2 - txReady - TX ready PIN configuration (see graphic below)
4 X4 - mode - DDC Mode Flags (see graphic below)
8 U4 - reserved3 - Reserved
12 X2 - inProtoMask - A mask describing which input protocols are
active.
Each bit of this mask is used for a protocol.
Through that, multiple protocols can be defined
on a single port. (see graphic below)
14 X2 - outProtoMask - A mask describing which output protocols are
active.
Each bit of this mask is used for a protocol.
Through that, multiple protocols can be defined
on a single port. (see graphic below)
16 X2 - flags - Flags bit mask (see graphic below)
18 U2 - reserved5 - Always set to zero

GPS.G7-SW-12001-B Public Release Page 126 of 196


Bitfield txReady
This Graphic explains the bits of txReady

Name Description
en Enable TX ready feature for this port
pol Polarity
0 High-active
1 Low-active
pin PIO to be used (must not be in use already by another function)
thres Threshold
The given threshold is multiplied by 8 bytes.
The TX ready PIN goes active after >= thres*8 bytes are pending for the port and going inactive after the last
pending bytes have been written to hardware (0-4 bytes before end of stream).
0x000 no threshold
0x001 8byte
0x002 16byte
...
0x1FE 4080byte
0x1FF 4088byte

Bitfield mode
This Graphic explains the bits of mode

Name Description
slaveAddr Slave address
Range: 0x07 < slaveAddr < 0x78. Bit 0 must be 0

Bitfield inProtoMask
This Graphic explains the bits of inProtoMask

GPS.G7-SW-12001-B Public Release Page 127 of 196


Bitfield outProtoMask
This Graphic explains the bits of outProtoMask

Bitfield flags
This Graphic explains the bits of flags

Name Description
extendedTxTim Extended TX timeout: if set, the port will timeout if allocated TX memory >=4 kB and no activity for 1.5s.
eout

35.15 CFG-RATE (0x06 0x08)


35.15.1 Poll Navigation/Measurement Rate Settings
Message CFG-RATE
Description Poll Navigation/Measurement Rate Settings
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment Sending this (empty / no-payload) message to the receiver results in the receiver returning a
message of type CFG-RATE with a payload as defined below
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x08 0 see below CK_A CK_B
No payload

GPS.G7-SW-12001-B Public Release Page 128 of 196


35.15.2 Navigation/Measurement Rate Settings
Message CFG-RATE
Description Navigation/Measurement Rate Settings
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment The u-blox positioning technology supports navigation update rates higher or lower than 1
update per second. The calculation of the navigation solution will always be aligned to the
top of a second.
• The update rate has a direct influence on the power consumption. The more fixes that
are required, the more CPU power and communication resources are required.
• For most applications a 1 Hz update rate would be sufficient.
• When using Power Save Mode, measurement and navigation rate can differ from the
values configured here. See Measurement and navigation rate with Power Save Mode
for details.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x08 6 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U2 - measRate ms Measurement Rate, GPS measurements are
taken every measRate milliseconds
2 U2 - navRate cycles Navigation Rate, in number of measurement
cycles. This parameter cannot be changed, and
must be set to 1.
4 U2 - timeRef - Alignment to reference time: 0 = UTC time, 1 =
GPS time

35.16 CFG-RINV (0x06 0x34)


35.16.1 Poll contents of Remote Inventory
Message CFG-RINV
Description Poll contents of Remote Inventory
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x34 0 see below CK_A CK_B
No payload

GPS.G7-SW-12001-B Public Release Page 129 of 196


35.16.2 Contents of Remote Inventory
Message CFG-RINV
Description Contents of Remote Inventory
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment If N is greater than 30, the excess bytes are discarded. In future firmware versions, this limit
may change.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x34 1 + 1*N see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 X1 - flags - Flags (see graphic below)
Start of repeated block (N times)

1 + 1*N U1 - data - Data to store/stored in Remote Inventory


End of repeated block

Bitfield flags
This Graphic explains the bits of flags

Name Description
dump Dump data at startup. Does not work if flag binary is set.
binary Data is binary

35.17 CFG-RST (0x06 0x04)


35.17.1 Reset Receiver / Clear Backup Data Structures
Message CFG-RST
Description Reset Receiver / Clear Backup Data Structures
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Command
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x04 4 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format

GPS.G7-SW-12001-B Public Release Page 130 of 196


CFG-RST continued
Byte Offset Number Scaling Name Unit Description
Format
0 X2 - navBbrMask - BBR Sections to clear. The following Special Sets
apply:
0x0000 Hotstart
0x0001 Warmstart
0xFFFF Coldstart (see graphic below)
2 U1 - resetMode - Reset Type
0x00 - Hardware reset (Watchdog) immediately
0x01 - Controlled Software reset
0x02 - Controlled Software reset (GNSS only)
0x04 - Hardware reset (Watchdog) after
shutdown
0x08 - Controlled GNSS stop
0x09 - Controlled GNSS start
3 U1 - reserved1 - Reserved

Bitfield navBbrMask
This Graphic explains the bits of navBbrMask

Name Description
eph Ephemeris
alm Almanac
health Health
klob Klobuchar parameters
pos Position
clkd Clock Drift
osc Oscillator Parameter
utc UTC Correction + GPS Leap Seconds Parameters
rtc RTC
sfdr SFDR Parameters
vmon SFDR Vehicle Monitoring Parameters
tct TCT Parameters
aop Autonomous Orbit Parameters

GPS.G7-SW-12001-B Public Release Page 131 of 196


35.18 CFG-RXM (0x06 0x11)
35.18.1 Poll RXM configuration
Message CFG-RXM
Description Poll RXM configuration
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment Upon sending of this message, the receiver returns CFG-RXM as defined below
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x11 0 see below CK_A CK_B
No payload

35.18.2 RXM configuration


Message CFG-RXM
Description RXM configuration
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment For a detailed description see section Power Management.
Note that Power Save Mode cannot be selected when the receiver is configured to process
GLONASS signals (using CFG-GNSS).
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x11 2 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - reserved1 - Always set to 8
1 U1 - lpMode - Low Power Mode
0: Continous Mode
1: Power Save Mode
2-3: reserved
4: Continuous Mode
5-255: reserved
Note that for receivers with protocol versions
larger or equal 14 both Low Power Mode
settings 0 and 4 configure the receiver to
Continuous Mode.

GPS.G7-SW-12001-B Public Release Page 132 of 196


35.19 CFG-SBAS (0x06 0x16)
35.19.1 Poll contents of SBAS Configuration
Message CFG-SBAS
Description Poll contents of SBAS Configuration
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x16 0 see below CK_A CK_B
No payload

35.19.2 SBAS Configuration


Message CFG-SBAS
Description SBAS Configuration
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment This message configures the SBAS receiver subsystem (i.e. WAAS, EGNOS, MSAS). See the
SBAS Configuration Settings Description for a detailed description of how these settings
affect receiver operation.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x16 8 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 X1 - mode - SBAS Mode (see graphic below)
1 X1 - usage - SBAS Usage (see graphic below)
2 U1 - maxSBAS - Maximum Number of SBAS prioritized tracking
channels (valid range: 0 - 3) to use (obsolete
and superseeded by UBX-CFG-GNSS in protocol
versions 14.00+).
3 X1 - scanmode2 - Continuation of scanmode bitmask below (see
graphic below)
4 X4 - scanmode1 - Which SBAS PRN numbers to search for
(Bitmask)
If all Bits are set to zero, auto-scan (i.e. all valid
PRNs) are searched.
Every bit corresponds to a PRN number (see
graphic below)

GPS.G7-SW-12001-B Public Release Page 133 of 196


Bitfield mode
This Graphic explains the bits of mode

Name Description
enabled SBAS Enabled (1) / Disabled (0)
test SBAS Testbed: Use data anyhow (1) / Ignore data when in Test Mode (SBAS Msg 0)

Bitfield usage
This Graphic explains the bits of usage

Name Description
range Use SBAS GEOs as a ranging source (for navigation)
diffCorr Use SBAS Differential Corrections
integrity Use SBAS Integrity Information

Bitfield scanmode2
This Graphic explains the bits of scanmode2

Bitfield scanmode1
This Graphic explains the bits of scanmode1

GPS.G7-SW-12001-B Public Release Page 134 of 196


35.20 CFG-TP5 (0x06 0x31)
35.20.1 Poll Time Pulse Parameters
Message CFG-TP5
Description Poll Time Pulse Parameters
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment Sending this (empty / no-payload) message to the receiver results in the receiver returning a
message of type CFG-TP5 with a payload as defined below for timepulse 0.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x31 0 see below CK_A CK_B
No payload

35.20.2 Poll Time Pulse Parameters


Message CFG-TP5
Description Poll Time Pulse Parameters
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment Sending this message to the receiver results in the receiver returning a message of type
CFG-TP5 with a payload as defined below for the specified time pulse.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x31 1 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - tpIdx - Time pulse selection (0 = TIMEPULSE, 1 =
TIMEPULSE2)

35.20.3 Time Pulse Parameters


Message CFG-TP5
Description Time Pulse Parameters
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment This message is used to get/set time pulse parameters. For more information see section
Time pulse.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x31 32 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - tpIdx - Time pulse selection (0 = TIMEPULSE, 1 =
TIMEPULSE2)
1 U1 - reserved0 - Reserved

GPS.G7-SW-12001-B Public Release Page 135 of 196


CFG-TP5 continued
Byte Offset Number Scaling Name Unit Description
Format
2 U2 - reserved1 - Reserved
4 I2 - antCableDelay ns Antenna cable delay
6 I2 - rfGroupDelay ns RF group delay
8 U4 - freqPeriod Hz_or_ Frequency or period time, depending on setting
us of bit 'isFreq'
12 U4 - freqPeriodLoc Hz_or_ Frequency or period time when locked to GPS
k us time, only used if 'lockedOtherSet' is set
16 U4 - pulseLenRatio us_or_2 Pulse length or duty cycle, depending on
^-32 'isLength'
20 U4 - pulseLenRatio us_or_2 Pulse length or duty cycle when locked to GPS
Lock ^-32 time, only used if 'lockedOtherSet' is set
24 I4 - userConfigDel ns User configurable time pulse delay
ay
28 X4 - flags - Configuration flags (see graphic below)

Bitfield flags
This Graphic explains the bits of flags

Name Description
Active if set enable time pulse; if pin assigned to another function, other function takes precedence
LockGpsFreq if set synchronize time pulse to GPS as soon as GPS time is valid, otherwise use local clock
lockedOtherSe if set use 'freqPeriodLock' and 'pulseLenRatioLock' as soon as GPS time is valid and 'freqPeriod' and
t 'pulseLenRatio' if GPS time is invalid,
if flag is cleared 'freqPeriod' and 'pulseLenRatio' used regardless of GPS time
isFreq if set 'freqPeriodLock' and 'freqPeriod' interpreted as frequency, otherwise interpreted as period
isLength if set 'pulseLenRatioLock' and 'pulseLenRatio' interpreted as pulse length, otherwise interpreted as duty cycle
alignToTow align pulse to top of second (period time must be integer fraction of 1s)
polarity pulse polarity:
0 = falling edge at top of second
1 = rising edge at top of second
gridUtcGps timegrid to use:
0 = UTC
1 = GPS

GPS.G7-SW-12001-B Public Release Page 136 of 196


35.21 CFG-USB (0x06 0x1B)
35.21.1 Poll a USB configuration
Message CFG-USB
Description Poll a USB configuration
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x1B 0 see below CK_A CK_B
No payload

35.21.2 USB Configuration


Message CFG-USB
Description USB Configuration
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input/Output
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x06 0x1B 108 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U2 - vendorID - Vendor ID. This field shall only be set to
registered Vendor IDs. Changing this field
requires special Host drivers.
2 U2 - productID - Product ID. Changing this field requires special
Host drivers.
4 U2 - reserved1 - Always set to zero
6 U2 - reserved2 - Always set to 1
8 U2 - powerConsumpt mA Power consumed by the device
ion
10 X2 - flags - various configuration flags (see graphic below)
12 CH[32] - vendorString - String containing the vendor name. 32 ASCII
bytes including 0-termination.
44 CH[32] - productString - String containing the product name. 32 ASCII
bytes including 0-termination.
76 CH[32] - serialNumber - String containing the serial number. 32 ASCII
bytes including 0-termination.
Changing the String fields requires special Host
drivers.

GPS.G7-SW-12001-B Public Release Page 137 of 196


Bitfield flags
This Graphic explains the bits of flags

Name Description
reEnum force re-enumeration
powerMode self-powered (1), bus-powered (0)

GPS.G7-SW-12001-B Public Release Page 138 of 196


36 INF (0x04)
Information Messages: i.e. Printf-Style Messages, with IDs such as Error, Warning, Notice.
The INF Class is basically an output class that allows the firmware and application code to output strings with a
printf-style call. All INF messages have an associated type to indicate the kind of message.
36.1 INF-DEBUG (0x04 0x04)
36.1.1 ASCII String output, indicating debug output
Message INF-DEBUG
Description ASCII String output, indicating debug output
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output
Comment This message has a variable length payload, representing an ASCII string.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x04 0x04 0 + 1*N see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
Start of repeated block (N times)

N*1 CH - str - ASCII Character


End of repeated block

36.2 INF-ERROR (0x04 0x00)


36.2.1 ASCII String output, indicating an error
Message INF-ERROR
Description ASCII String output, indicating an error
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output
Comment This message has a variable length payload, representing an ASCII string.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x04 0x00 0 + 1*N see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
Start of repeated block (N times)

N*1 CH - str - ASCII Character


End of repeated block

GPS.G7-SW-12001-B Public Release Page 139 of 196


36.3 INF-NOTICE (0x04 0x02)
36.3.1 ASCII String output, with informational contents
Message INF-NOTICE
Description ASCII String output, with informational contents
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output
Comment This message has a variable length payload, representing an ASCII string.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x04 0x02 0 + 1*N see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
Start of repeated block (N times)

N*1 CH - str - ASCII Character


End of repeated block

36.4 INF-TEST (0x04 0x03)


36.4.1 ASCII String output, indicating test output
Message INF-TEST
Description ASCII String output, indicating test output
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output
Comment This message has a variable length payload, representing an ASCII string.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x04 0x03 0 + 1*N see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
Start of repeated block (N times)

N*1 CH - str - ASCII Character


End of repeated block

GPS.G7-SW-12001-B Public Release Page 140 of 196


36.5 INF-WARNING (0x04 0x01)
36.5.1 ASCII String output, indicating a warning
Message INF-WARNING
Description ASCII String output, indicating a warning
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output
Comment This message has a variable length payload, representing an ASCII string.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x04 0x01 0 + 1*N see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
Start of repeated block (N times)

N*1 CH - str - ASCII Character


End of repeated block

GPS.G7-SW-12001-B Public Release Page 141 of 196


37 LOG (0x21)
Logging Messages: i.e. Log creation, deletion, info and retrieval.
The logging feature allows position fixes and arbitrary byte strings to be logged in flash memory attached to
the receiver. For a full description of this feature see Logging.
37.1 LOG-CREATE (0x21 0x07)
37.1.1 Create Log File
Message LOG-CREATE
Description Create Log File
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Command
Comment This message is used to create an initial logging file and activate the logging subsystem.
UBX-ACK-ACK or UBX-ACK-NAK are returned to indicate success or failure.
This message does not handle activation of recording or filtering of log entries (see
UBX-CFG-LOGFILTER).
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x21 0x07 8 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - version - The version of this message. Set to 0
1 X1 - logCfg - Config flags (see graphic below)
2 U1 - reserved - Reserved. Set to zero
3 U1 - logSize - Indicates the size of the log:
0 (maximum safe size): Ensures that logging will
not be interupted and enough space will be left
avaiable for all other uses of the filestore
1 (minimum size):
2 (user defined): See 'userDefinedSize' below
4 U4 - userDefinedSi bytes Sets the maximum amount of space in the
ze filestore that can be used by the logging task.
This field is only applicable if logSize is set to
user defined.

Bitfield logCfg
This Graphic explains the bits of logCfg

Name Description
circular Log is circular (new entries overwrite old ones in a full log) if this bit set

GPS.G7-SW-12001-B Public Release Page 142 of 196


37.2 LOG-ERASE (0x21 0x03)
37.2.1 Erase Logged Data
Message LOG-ERASE
Description Erase Logged Data
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Command
Comment This message deactivates the logging system and erases all logged data.
UBX-ACK-ACK or UBX-ACK-NAK are returned to indicate success or failure.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x21 0x03 0 see below CK_A CK_B
No payload

37.3 LOG-FINDTIME (0x21 0x0E)


37.3.1 Finds the index of the first log entry <= given time
Message LOG-FINDTIME
Description Finds the index of the first log entry <= given time
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Input
Comment This message can be used to search a log for the index of the first entry less than or equal
to the given time. This index can then be used with the UBX-LOG-RETRIEVE message to
provide time-based retrieval of log entries.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x21 0x0E 12 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - version - Message version (=0 for this version)
1 U1 - type - Message type, 0 for request
2 U2 - reserved1 - Reserved
4 U2 - year - Year (1-65635) of UTC time
6 U1 - month - Month (1-12) of UTC time
7 U1 - day - Day (1-31) of UTC time
8 U1 - hour - Hour (0-23) of UTC time
9 U1 - minute - Minute (0-59) of UTC time
10 U1 - second - Second (0-60) of UTC time
11 U1 - reserved2 - Reserved

GPS.G7-SW-12001-B Public Release Page 143 of 196


37.3.2 This message is the response to FINDTIME request.
Message LOG-FINDTIME
Description This message is the response to FINDTIME request.
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x21 0x0E 8 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - version - Message version (=1 for this version)
1 U1 - type - Message type, 1 for response
2 U2 - reserved1 - Reserved
4 U4 - entryNumber - Index of the most recent entry with time <=
specified

37.4 LOG-INFO (0x21 0x08)


37.4.1 Poll for log information
Message LOG-INFO
Description Poll for log information
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment Upon sending of this message, the receiver returns UBX-LOG-INFO as defined below.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x21 0x08 0 see below CK_A CK_B
No payload

37.4.2 Log information


Message LOG-INFO
Description Log information
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output
Comment This message is used to report information about the logging subsystem.
Note:
• The reported maximum log size will be smaller than that originally specified in
LOG-CREATE due to logging and filestore implementation overheads.
• Log entries are compressed in a variable length fashion, so it may be difficult to predict
log space usage with any precision.
• There may be times when the receiver does not have an accurate time (e.g. if the week
number is not yet known), in which case some entries will not have a timestamp - this
may result in the oldest/newest entry time values not taking account of these entries.

GPS.G7-SW-12001-B Public Release Page 144 of 196


Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x21 0x08 48 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - version - The version of this message. Set to 1
1 U1[3] - reserved1 - Reserved
4 U4 - filestoreCapa bytes The capacity of the filestore
city
8 U4 - reserved2 - Reserved
12 U4 - reserved3 - Reserved
16 U4 - currentMaxLog bytes The maximum size the current log is allowed to
Size grow to
20 U4 - currentLogSiz bytes Approximate amount of space in log currently
e occupied
24 U4 - entryCount - Number of entries in the log.
Note: for circular logs this value will decrease
when a group of entries is deleted to make
space for new ones.
28 U2 - oldestYear - Oldest entry UTC year year (1-65635) or zero if
there are no entries with known time
30 U1 - oldestMonth - Oldest month (1-12)
31 U1 - oldestDay - Oldest day (1-31)
32 U1 - oldestHour - Oldest hour (0-23)
33 U1 - oldestMinute - Oldest minute (0-59)
34 U1 - oldestSecond - Oldest second (0-60)
35 U1 - reserved4 - Reserved.
36 U2 - newestYear - Newest year (1-65635) or zero if there are no
entries with known time
38 U1 - newestMonth - Newest month (1-12)
39 U1 - newestDay - Newest day (1-31)
40 U1 - newestHour - Newest hour (0-23)
41 U1 - newestMinute - Newest minute (0-59)
42 U1 - newestSecond - Newest second (0-60)
43 U1 - reserved5 - Reserved.
44 X1 - status - Log status flags (see graphic below)
45 U1[3] - reserved6 - Reserved

Bitfield status
This Graphic explains the bits of status

Name Description

GPS.G7-SW-12001-B Public Release Page 145 of 196


Bitfield status Description continued
Name Description
recording Log entry recording is currently turned on
inactive Logging system not active - no log present
circular The current log is circular

37.5 LOG-RETRIEVEPOS (0x21 0x0b)


37.5.1 Position fix log entry
Message LOG-RETRIEVEPOS
Description Position fix log entry
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output
Comment This message is used to report a position fix log entry
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x21 0x0b 40 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - entryIndex - The index of this log entry
4 I4 1e-7 lon deg Longitude
8 I4 1e-7 lat deg Latitude
12 I4 - hMSL mm Height above mean sea level
16 U4 - hAcc mm Horizontal accuracy estimate
20 U4 - gSpeed mm/s Ground speed (2-D)
24 U4 - heading deg Heading
28 U1 - version - The version of this message. Set to 0
29 U1 - fixType - Fix type:
2: 2D-Fix
3: 3D-Fix
30 U2 - year - Year (1-65635) of UTC time
32 U1 - month - Month (1-12) of UTC time
33 U1 - day - Day (1-31) of UTC time
34 U1 - hour - Hour (0-23) of UTC time
35 U1 - minute - Minute (0-59) of UTC time
36 U1 - second - Second (0-60) of UTC time
37 U1 - reserved1 - Reserved
38 U1 - numSV - Number of satellites used in the position fix
39 U1 - reserved2 - Reserved

GPS.G7-SW-12001-B Public Release Page 146 of 196


37.6 LOG-RETRIEVESTRING (0x21 0x0d)
37.6.1 Byte string log entry
Message LOG-RETRIEVESTRING
Description Byte string log entry
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output
Comment This message is used to report a byte string log entry
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x21 0x0d 16 + 1*byteCount see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - entryIndex - The index of this log entry
4 U1 - version - The version of this message. Set to 0
5 U1 - reserved1 - Reserved
6 U2 - year - Year (1-65635) of UTC time. Will be zero if time
not known
8 U1 - month - Month (1-12) of UTC time
9 U1 - day - Day (1-31) of UTC time
10 U1 - hour - Hour (0-23) of UTC time
11 U1 - minute - Minute (0-59) of UTC time
12 U1 - second - Second (0-60) of UTC time
13 U1 - reserved2 - Reserved
14 U2 - byteCount - Size of string in bytes
Start of repeated block (byteCount times)

16 + 1*N U1 - bytes - The bytes of the string


End of repeated block

37.7 LOG-RETRIEVE (0x21 0x09)


37.7.1 Request log data
Message LOG-RETRIEVE
Description Request log data
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Command
Comment This message is used to request logged data (log recording must first be disabled, see
UBX-CFG-LOGFILTER).
Log entries are returned in chronological order, using the messages
UBX-LOG-RETRIEVEPOS and UBX-LOG-RETRIEVESTRING. The maximum number of
entries that can be returned in response to a single UBX-LOG-RETRIEVE message is 256. If
more entries than this are required the mesage will need to be sent multiple times with
different startNumbers. The retrieve will be stopped if any UBX-LOG message is received.
The speed of transfer can be maximised by using a high data rate and temporarily stopping
the GPS processing (see UBX-CFG-RST)

GPS.G7-SW-12001-B Public Release Page 147 of 196


Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x21 0x09 12 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - startNumber - Index of first entry to be transferred
4 U4 - entryCount - Number of log entries to transfer. The maximum
is 256
8 U1 - version - The version of this message. Set to 0
9 U1[3] - reserved - Reserved

37.8 LOG-STRING (0x21 0x04)


37.8.1 Store arbitrary string in on-board Flash memory
Message LOG-STRING
Description Store arbitrary string in on-board Flash memory
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Command
Comment This message can be used to store an arbitrary byte string in the on-board flash memory.
The maximum length that can be stored is 256 bytes.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x21 0x04 0 + 1*N see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
Start of repeated block (N times)

N*1 U1 - bytes - The string of bytes to be logged (maximum 256)


End of repeated block

GPS.G7-SW-12001-B Public Release Page 148 of 196


38 MON (0x0A)
Monitoring Messages: i.e. Comunication Status, CPU Load, Stack Usage, Task Status.
Messages in this class are sent to report GPS receiver status, such as CPU load, stack usage, I/O subsystem
statistics etc.
38.1 MON-HW2 (0x0A 0x0B)
38.1.1 Extended Hardware Status
Message MON-HW2
Description Extended Hardware Status
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment Status of different aspects of the hardware such as Imbalance, Low-Level Configuration
and POST Results.
The first four parameters of this message represent the complex signal from the RF front
end. The following rules of thumb apply:
• The smaller the absolute value of the variable ofsI and ofsQ respectively, the better.
• Ideally, the magnitude of the I-part (magI) and the Q-part (magQ) of the complex signal
should be the same.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0A 0x0B 28 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 I1 - ofsI - Imbalance of I-part of complex signal, scaled
(-128 = max. negative imbalance, 127 = max.
positive imbalance)
1 U1 - magI - Magnitude of I-part of complex signal, scaled (0
= no signal, 255 = max. magnitude)
2 I1 - ofsQ - Imbalance of Q-part of complex signal, scaled
(-128 = max. negative imbalance, 127 = max.
positive imbalance)
3 U1 - magQ - Magnitude of Q-part of complex signal, scaled
(0 = no signal, 255 = max. magnitude)
4 U1 - cfgSource - Source of low-level configuration
(114 = ROM, 111 = OTP, 112 = config pins, 102
= flash image)
5 U1[3] - reserved0 - Reserved
8 U4 - lowLevCfg - Low-level configuration
12 U4[2] - reserved1 - Reserved
20 U4 - postStatus - POST status word
24 U4 - reserved2 - Reserved

GPS.G7-SW-12001-B Public Release Page 149 of 196


38.2 MON-HW (0x0A 0x09)
38.2.1 Hardware Status
Message MON-HW
Description Hardware Status
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment Status of different aspect of the hardware, such as Antenna, PIO/Peripheral Pins, Noise
Level, Automatic Gain Control (AGC)
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0A 0x09 60 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 X4 - pinSel - Mask of Pins Set as Peripheral/PIO
4 X4 - pinBank - Mask of Pins Set as Bank A/B
8 X4 - pinDir - Mask of Pins Set as Input/Output
12 X4 - pinVal - Mask of Pins Value Low/High
16 U2 - noisePerMS - Noise Level as measured by the GPS Core
18 U2 - agcCnt - AGC Monitor (counts SIGHI xor SIGLO, range 0
to 8191)
20 U1 - aStatus - Status of the Antenna Supervisor State Machine
(0=INIT, 1=DONTKNOW, 2=OK, 3=SHORT,
4=OPEN)
21 U1 - aPower - Current PowerStatus of Antenna (0=OFF, 1=ON,
2=DONTKNOW)
22 X1 - flags - Flags (see graphic below)
23 U1 - reserved1 - Reserved
24 X4 - usedMask - Mask of Pins that are used by the Virtual Pin
Manager
28 U1[17] - VP - Array of Pin Mappings for each of the 17
Physical Pins
45 U1 - jamInd - CW Jamming indicator, scaled (0 = no CW
jamming, 255 = strong CW jamming)
46 U2 - reserved3 - Reserved
48 X4 - pinIrq - Mask of Pins Value using the PIO Irq
52 X4 - pullH - Mask of Pins Value using the PIO Pull High
Resistor
56 X4 - pullL - Mask of Pins Value using the PIO Pull Low
Resistor

GPS.G7-SW-12001-B Public Release Page 150 of 196


Bitfield flags
This Graphic explains the bits of flags

Name Description
rtcCalib RTC is calibrated
safeBoot safeBoot mode (0 = inactive, 1 = active)
jammingState output from Jamming/Interference Monitor (0 = unknown or feature disabled, 1 = ok - no significant jamming, 2
= warning - interference visible but fix OK, 3 = critical - interference visible and no fix)

38.3 MON-IO (0x0A 0x02)


38.3.1 I/O Subsystem Status
Message MON-IO
Description I/O Subsystem Status
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment The size of the message is determined by the number of ports 'N' the receiver supports, i.e.
on u-blox 5 the number of ports is 6.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0A 0x02 0 + 20*N see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
Start of repeated block (N times)

N*20 U4 - rxBytes bytes Number of bytes ever received


4 + 20*N U4 - txBytes bytes Number of bytes ever sent
8 + 20*N U2 - parityErrs - Number of 100ms timeslots with parity errors
10 + 20*N U2 - framingErrs - Number of 100ms timeslots with framing errors
12 + 20*N U2 - overrunErrs - Number of 100ms timeslots with overrun errors
14 + 20*N U2 - breakCond - Number of 100ms timeslots with break
conditions
16 + 20*N U1 - rxBusy - Flag is receiver is busy
17 + 20*N U1 - txBusy - Flag is transmitter is busy
18 + 20*N U2 - reserved1 - Reserved
End of repeated block

GPS.G7-SW-12001-B Public Release Page 151 of 196


38.4 MON-MSGPP (0x0A 0x06)
38.4.1 Message Parse and Process Status
Message MON-MSGPP
Description Message Parse and Process Status
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0A 0x06 120 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U2[8] - msg1 msgs Number of successfully parsed messages for
each protocol on port0
16 U2[8] - msg2 msgs Number of successfully parsed messages for
each protocol on port1
32 U2[8] - msg3 msgs Number of successfully parsed messages for
each protocol on port2
48 U2[8] - msg4 msgs Number of successfully parsed messages for
each protocol on port3
64 U2[8] - msg5 msgs Number of successfully parsed messages for
each protocol on port4
80 U2[8] - msg6 msgs Number of successfully parsed messages for
each protocol on port5
96 U4[6] - skipped bytes Number skipped bytes for each port

38.5 MON-RXBUF (0x0A 0x07)


38.5.1 Receiver Buffer Status
Message MON-RXBUF
Description Receiver Buffer Status
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0A 0x07 24 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U2[6] - pending bytes Number of bytes pending in receiver buffer for
each target
12 U1[6] - usage % Maximum usage receiver buffer during the last
sysmon period for each target
18 U1[6] - peakUsage % Maximum usage receiver buffer for each target

GPS.G7-SW-12001-B Public Release Page 152 of 196


38.6 MON-RXR (0x0A 0x21)
38.6.1 Receiver Status Information
Message MON-RXR
Description Receiver Status Information
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Output
Comment The receiver ready message is sent when the receiver changes from or to backup mode.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0A 0x21 1 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 X1 - flags - Receiver status flags (see graphic below)

Bitfield flags
This Graphic explains the bits of flags

Name Description
awake not in Backup mode

38.7 MON-TXBUF (0x0A 0x08)


38.7.1 Transmitter Buffer Status
Message MON-TXBUF
Description Transmitter Buffer Status
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0A 0x08 28 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U2[6] - pending bytes Number of bytes pending in transmitter buffer
for each target
12 U1[6] - usage % Maximum usage transmitter buffer during the
last sysmon period for each target
18 U1[6] - peakUsage % Maximum usage transmitter buffer for each
target

GPS.G7-SW-12001-B Public Release Page 153 of 196


MON-TXBUF continued
Byte Offset Number Scaling Name Unit Description
Format
24 U1 - tUsage % Maximum usage of transmitter buffer during
the last sysmon period for all targets
25 U1 - tPeakusage % Maximum usage of transmitter buffer for all
targets
26 X1 - errors - Error bitmask (see graphic below)
27 U1 - reserved1 - Reserved

Bitfield errors
This Graphic explains the bits of errors

Name Description
limit Buffer limit of corresponding target reached
mem Memory Allocation error
alloc Allocation error (TX buffer full)

38.8 MON-VER (0x0A 0x04)


38.8.1 Poll Receiver/Software Version
Message MON-VER
Description Poll Receiver/Software Version
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Poll Request
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0A 0x04 0 see below CK_A CK_B
No payload

GPS.G7-SW-12001-B Public Release Page 154 of 196


38.8.2 Receiver/Software Version
Message MON-VER
Description Receiver/Software Version
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Answer to Poll
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0A 0x04 40 + 30*N see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 CH[30] - swVersion - Zero-terminated Software Version String.
30 CH[10] - hwVersion - Zero-terminated Hardware Version String
Start of repeated block (N times)

40 + 30*N CH[30] - extension - Extended receiver/software information.


If the receiver's firmware is running from flash,
the first extension field will contain the Software
Version String of the underlying ROM.
Additional fields may also indicate the
supported protocol version and any product
variants, capabilities or extensions.
End of repeated block

GPS.G7-SW-12001-B Public Release Page 155 of 196


39 NAV (0x01)
Navigation Results: i.e. Position, Speed, Time, Acc, Heading, DOP, SVs used.
Messages in the NAV Class output Navigation Data such as position, altitude and velocity in a number of
formats. Additionally, status flags and accuracy figures are output.
39.1 NAV-AOPSTATUS (0x01 0x60)
39.1.1 AssistNow Autonomous Status
Message NAV-AOPSTATUS
Description AssistNow Autonomous Status
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment This message provides information on the current availability of AssistNow Autonomous
data and the current state of the subsystem on the receiver. For example, a host application
can determine the optimal time to shut down the receiver by monitoring the status field
for a steady 0. See the chapter AssistNow Autonomous in the receiver description for
details on this feature.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x01 0x60 20 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
4 U1 - aopCfg - AssistNow Autonomous configuration (see
graphic below)
5 U1 - status - AssistNow Autonomous subsystem is idle (0) or
running (not 0)
6 U1 - reserved0 - Always set to zero
7 U1 - reserved1 - Always set to zero
8 U4 - availGPS - data availability mask for GPS SVs
(bits 0-31 correspond to GPS PRN 1-32)
12 U4 - reserved2 - Always set to zero
16 U4 - reserved3 - Always set to zero

Bitfield aopCfg
This Graphic explains the bits of aopCfg

Name Description
useAOP AOP enabled flag

GPS.G7-SW-12001-B Public Release Page 156 of 196


39.2 NAV-CLOCK (0x01 0x22)
39.2.1 Clock Solution
Message NAV-CLOCK
Description Clock Solution
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x01 0x22 20 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
4 I4 - clkB ns Clock bias
8 I4 - clkD ns/s Clock drift
12 U4 - tAcc ns Time accuracy estimate
16 U4 - fAcc ps/s Frequency accuracy estimate

39.3 NAV-DGPS (0x01 0x31)


39.3.1 DGPS Data Used for NAV
Message NAV-DGPS
Description DGPS Data Used for NAV
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment This message outputs the DGPS correction data that has been applied to the current NAV
Solution. See also the notes on the RTCM protocol.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x01 0x31 16 + 12*numCh see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
4 I4 - age ms Age of newest correction data
8 I2 - baseId - DGPS basestation identifier
10 I2 - baseHealth - DGPS basestation health status
12 U1 - numCh - Number of channels for which correction data is
following
13 U1 - status - DGPS correction type status:
0x00: none
0x01: PR+PRR correction
14 U2 - reserved1 - Reserved

GPS.G7-SW-12001-B Public Release Page 157 of 196


NAV-DGPS continued
Byte Offset Number Scaling Name Unit Description
Format
Start of repeated block (numCh times)

16 + 12*N U1 - svid - Satellite ID


17 + 12*N X1 - flags - Channel number and usage (see graphic below)
18 + 12*N U2 - ageC ms Age of latest correction data
20 + 12*N R4 - prc m Pseudorange correction
24 + 12*N R4 - prrc m/s Pseudorange rate correction
End of repeated block

Bitfield flags
This Graphic explains the bits of flags

Name Description
channel GPS channel number this SV is on
dgpsUsed 1 = DGPS used for this SV

39.4 NAV-DOP (0x01 0x04)


39.4.1 Dilution of precision
Message NAV-DOP
Description Dilution of precision
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment • DOP values are dimensionless.
• All DOP values are scaled by a factor of 100. If the unit transmits a value of e.g. 156, the
DOP value is 1.56.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x01 0x04 18 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
4 U2 0.01 gDOP - Geometric DOP
6 U2 0.01 pDOP - Position DOP
8 U2 0.01 tDOP - Time DOP
10 U2 0.01 vDOP - Vertical DOP
12 U2 0.01 hDOP - Horizontal DOP
14 U2 0.01 nDOP - Northing DOP
GPS.G7-SW-12001-B Public Release Page 158 of 196
NAV-DOP continued
Byte Offset Number Scaling Name Unit Description
Format
16 U2 0.01 eDOP - Easting DOP

39.5 NAV-POSECEF (0x01 0x01)


39.5.1 Position Solution in ECEF
Message NAV-POSECEF
Description Position Solution in ECEF
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment See important comments concerning validity of position given in section
Navigation Output Filters.
-
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x01 0x01 20 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
4 I4 - ecefX cm ECEF X coordinate
8 I4 - ecefY cm ECEF Y coordinate
12 I4 - ecefZ cm ECEF Z coordinate
16 U4 - pAcc cm Position Accuracy Estimate

39.6 NAV-POSLLH (0x01 0x02)


39.6.1 Geodetic Position Solution
Message NAV-POSLLH
Description Geodetic Position Solution
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment See important comments concerning validity of position given in section
Navigation Output Filters.
This message outputs the Geodetic position in the currently selected ellipsoid. The default is
the WGS84 Ellipsoid, but can be changed with the message CFG-DAT.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x01 0x02 28 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
4 I4 1e-7 lon deg Longitude
GPS.G7-SW-12001-B Public Release Page 159 of 196
NAV-POSLLH continued
Byte Offset Number Scaling Name Unit Description
Format
8 I4 1e-7 lat deg Latitude
12 I4 - height mm Height above ellipsoid
16 I4 - hMSL mm Height above mean sea level
20 U4 - hAcc mm Horizontal accuracy estimate
24 U4 - vAcc mm Vertical accuracy estimate

39.7 NAV-PVT (0x01 0x07)


39.7.1 Navigation Position Velocity Time Solution
Message NAV-PVT
Description Navigation Position Velocity Time Solution
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment Note that during a leap second there may be more (or less) than 60 seconds in a
minute; see the description of leap seconds for details.
This message combines position, velocity and time solution, including accuracy figures
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x01 0x07 84 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
4 U2 - year y Year (UTC)
6 U1 - month month Month, range 1..12 (UTC)
7 U1 - day d Day of month, range 1..31 (UTC)
8 U1 - hour h Hour of day, range 0..23 (UTC)
9 U1 - min min Minute of hour, range 0..59 (UTC)
10 U1 - sec s Seconds of minute, range 0..60 (UTC)
11 X1 - valid - Validity Flags (see graphic below)
12 U4 - tAcc ns Time accuracy estimate (UTC)
16 I4 - nano ns Fraction of second, range -1e9 .. 1e9 (UTC)
20 U1 - fixType - GNSSfix Type, range 0..5
0x00 = No Fix
0x01 = Dead Reckoning only
0x02 = 2D-Fix
0x03 = 3D-Fix
0x04 = GNSS + dead reckoning combined
0x05 = Time only fix
0x06..0xff: reserved
21 X1 - flags - Fix Status Flags (see graphic below)
22 U1 - reserved1 - Reserved
23 U1 - numSV - Number of satellites used in Nav Solution
24 I4 1e-7 lon deg Longitude

GPS.G7-SW-12001-B Public Release Page 160 of 196


NAV-PVT continued
Byte Offset Number Scaling Name Unit Description
Format
28 I4 1e-7 lat deg Latitude
32 I4 - height mm Height above Ellipsoid
36 I4 - hMSL mm Height above mean sea level
40 U4 - hAcc mm Horizontal Accuracy Estimate
44 U4 - vAcc mm Vertical Accuracy Estimate
48 I4 - velN mm/s NED north velocity
52 I4 - velE mm/s NED east velocity
56 I4 - velD mm/s NED down velocity
60 I4 - gSpeed mm/s Ground Speed (2-D)
64 I4 1e-5 heading deg Heading of motion 2-D
68 U4 - sAcc mm/s Speed Accuracy Estimate
72 U4 1e-5 headingAcc deg Heading Accuracy Estimate
76 U2 0.01 pDOP - Position DOP
78 X2 - reserved2 - Reserved
80 U4 - reserved3 - Reserved

Bitfield valid
This Graphic explains the bits of valid

Name Description
validDate 1 = Valid UTC Date
validTime 1 = Valid UTC Time of Day
fullyResolved 1 = UTC Time of Day has been fully resolved (no seconds uncertainty)

Bitfield flags
This Graphic explains the bits of flags

Name Description
gnssFixOK A valid fix (i.e within DOP & accuracy masks)
diffSoln 1 if differential corrections were applied

GPS.G7-SW-12001-B Public Release Page 161 of 196


Bitfield flags Description continued
Name Description
psmState Power Save Mode state (see Power Management):
0 = n/a (i.e no PSM is active)
1 = ENABLED (an intermediate state before ACQUISITION state
2 = ACQUISITION
3 = TRACKING
4 = POWER OPTIMIZED TRACKING
5 = INACTIVE

39.8 NAV-SBAS (0x01 0x32)


39.8.1 SBAS Status Data
Message NAV-SBAS
Description SBAS Status Data
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment This message outputs the status of the SBAS sub system
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x01 0x32 12 + 12*cnt see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
4 U1 - geo - PRN Number of the GEO where correction and
integrity data is used from
5 U1 - mode - SBAS Mode
0 Disabled
1 Enabled Integrity
3 Enabled Testmode
6 I1 - sys - SBAS System (WAAS/EGNOS/...)
-1 Unknown
0 WAAS
1 EGNOS
2 MSAS
16 GPS
7 X1 - service - SBAS Services available (see graphic below)
8 U1 - cnt - Number of SV data following
9 U1[3] - reserved0 - Reserved
Start of repeated block (cnt times)

12 + 12*N U1 - svid - SV Id
13 + 12*N U1 - flags - Flags for this SV
14 + 12*N U1 - udre - Monitoring status
15 + 12*N U1 - svSys - System (WAAS/EGNOS/...)
same as SYS

GPS.G7-SW-12001-B Public Release Page 162 of 196


NAV-SBAS continued
Byte Offset Number Scaling Name Unit Description
Format
16 + 12*N U1 - svService - Services available
same as SERVICE
17 + 12*N U1 - reserved1 - Reserved
18 + 12*N I2 - prc cm Pseudo Range correction in [cm]
20 + 12*N U2 - reserved2 - Reserved
22 + 12*N I2 - ic cm Ionosphere correction in [cm]
End of repeated block

Bitfield service
This Graphic explains the bits of service

39.9 NAV-SOL (0x01 0x06)


39.9.1 Navigation Solution Information
Message NAV-SOL
Description Navigation Solution Information
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment This message combines position, velocity and time solution in ECEF, including accuracy
figures.
This message has only been retained for backwards compatibility; users are recommended
to use the UBX-NAV-PVT message in preference.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x01 0x06 52 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
4 I4 - fTOW ns Fractional part of iTOW (range: +/-500000).
The precise GPS time of week in seconds is:
(iTOW * 1e-3) + (fTOW * 1e-9)
8 I2 - week weeks GPS week number of the navigation epoch

GPS.G7-SW-12001-B Public Release Page 163 of 196


NAV-SOL continued
Byte Offset Number Scaling Name Unit Description
Format
10 U1 - gpsFix - GPSfix Type, range 0..5
0x00 = No Fix
0x01 = Dead Reckoning only
0x02 = 2D-Fix
0x03 = 3D-Fix
0x04 = GPS + dead reckoning combined
0x05 = Time only fix
0x06..0xff: reserved
11 X1 - flags - Fix Status Flags (see graphic below)
12 I4 - ecefX cm ECEF X coordinate
16 I4 - ecefY cm ECEF Y coordinate
20 I4 - ecefZ cm ECEF Z coordinate
24 U4 - pAcc cm 3D Position Accuracy Estimate
28 I4 - ecefVX cm/s ECEF X velocity
32 I4 - ecefVY cm/s ECEF Y velocity
36 I4 - ecefVZ cm/s ECEF Z velocity
40 U4 - sAcc cm/s Speed Accuracy Estimate
44 U2 0.01 pDOP - Position DOP
46 U1 - reserved1 - Reserved
47 U1 - numSV - Number of SVs used in Nav Solution
48 U4 - reserved2 - Reserved

Bitfield flags
This Graphic explains the bits of flags

Name Description
GPSfixOK >1 = Fix within limits (e.g. DOP & accuracy)
DiffSoln 1 = DGPS used
WKNSET 1 = Valid GPS week number
TOWSET 1 = Valid GPS time of week (iTOW & fTOW)

GPS.G7-SW-12001-B Public Release Page 164 of 196


39.10 NAV-STATUS (0x01 0x03)
39.10.1 Receiver Navigation Status
Message NAV-STATUS
Description Receiver Navigation Status
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment See important comments concerning validity of position and velocity given in
section Navigation Output Filters.
-
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x01 0x03 16 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
4 U1 - gpsFix - GPSfix Type, this value does not qualify a fix as
valid and within the limits. See note on flag
gpsFixOk below.
0x00 = no fix
0x01 = dead reckoning only
0x02 = 2D-fix
0x03 = 3D-fix
0x04 = GPS + dead reckoning combined
0x05 = Time only fix
0x06..0xff = reserved
5 X1 - flags - Navigation Status Flags (see graphic below)
6 X1 - fixStat - Fix Status Information (see graphic below)
7 X1 - flags2 - further information about navigation output
(see graphic below)
8 U4 - ttff - Time to first fix (millisecond time tag)
12 U4 - msss - Milliseconds since Startup / Reset

Bitfield flags
This Graphic explains the bits of flags

Name Description
gpsFixOk position and velocity valid and within DOP and ACC Masks, see also important comments in section Navigation
Output Filters.
diffSoln 1 if DGPS used

GPS.G7-SW-12001-B Public Release Page 165 of 196


Bitfield flags Description continued
Name Description
wknSet 1 if Week Number valid
towSet 1 if Time of Week valid

Bitfield fixStat
This Graphic explains the bits of fixStat

Name Description
dgpsIStat DGPS Input Status
0: none
1: PR+PRR Correction
mapMatching map matching status, see section Map Matching Input for details.
00: none
01: valid, i.e. map matching data was received, but was too old
10: used, map matching data was applied
11: DR, map matching was the reason to enable the dead reckoning gpsFix type instead of publishing no fix

Bitfield flags2
This Graphic explains the bits of flags2

Name Description
psmState power save mode state
0: ACQUISITION [or when psm disabled]
1: TRACKING
2: POWER OPTIMIZED TRACKING
3: INACTIVE

GPS.G7-SW-12001-B Public Release Page 166 of 196


39.11 NAV-SVINFO (0x01 0x30)
39.11.1 Space Vehicle Information
Message NAV-SVINFO
Description Space Vehicle Information
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment -
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x01 0x30 8 + 12*numCh see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
4 U1 - numCh - Number of channels
5 X1 - globalFlags - Bitmask (see graphic below)
6 U2 - reserved2 - Reserved
Start of repeated block (numCh times)

8 + 12*N U1 - chn - Channel number, 255 for SVs not assigned to a


channel
9 + 12*N U1 - svid - Satellite ID, see Satellite numbering for
assignment
10 + 12*N X1 - flags - Bitmask (see graphic below)
11 + 12*N X1 - quality - Bitfield (see graphic below)
12 + 12*N U1 - cno dBHz Carrier to Noise Ratio (Signal Strength)
13 + 12*N I1 - elev deg Elevation in integer degrees
14 + 12*N I2 - azim deg Azimuth in integer degrees
16 + 12*N I4 - prRes cm Pseudo range residual in centimetres
End of repeated block

Bitfield globalFlags
This Graphic explains the bits of globalFlags

Name Description
chipGen Chip hardware generation
0: Antaris, Antaris 4
1: u-blox 5
2: u-blox 6

GPS.G7-SW-12001-B Public Release Page 167 of 196


Bitfield flags
This Graphic explains the bits of flags

Name Description
svUsed SV is used for navigation
diffCorr Differential correction data is available for this SV
orbitAvail Orbit information is available for this SV (Ephemeris or Almanac)
orbitEph Orbit information is Ephemeris
unhealthy SV is unhealthy / shall not be used
orbitAlm Orbit information is Almanac Plus
orbitAop Orbit information is AssistNow Autonomous
smoothed Carrier smoothed pseudorange used
(see PPP for details)

Bitfield quality
This Graphic explains the bits of quality

Name Description
qualityInd Signal Quality indicator (range 0..7). The following list shows the meaning of the different QI values:
0: This channel is idle
1: Channel is searching
2: Signal aquired
3: Signal detected but unusable
4: Code Lock on Signal
5, 6, 7: Code and Carrier locked

GPS.G7-SW-12001-B Public Release Page 168 of 196


39.12 NAV-TIMEGPS (0x01 0x20)
39.12.1 GPS Time Solution
Message NAV-TIMEGPS
Description GPS Time Solution
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment This message reports the precise GPS time of the most recent navigation solution including
validity falgs and an accuracy estimate.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x01 0x20 16 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
4 I4 - fTOW ns Fractional part of iTOW (range: +/-500000).
The precise GPS time of week in seconds is:
(iTOW * 1e-3) + (fTOW * 1e-9)
8 I2 - week - GPS week number of the navigation epoch
10 I1 - leapS s GPS leap seconds (GPS-UTC)
11 X1 - valid - Validity Flags (see graphic below)
12 U4 - tAcc ns Time Accuracy Estimate

Bitfield valid
This Graphic explains the bits of valid

Name Description
towValid 1 = Valid GPS time of week (iTOW & fTOW)
weekValid 1 = Valid GPS week number
leapSValid 1 = Valid GPS leap seconds

GPS.G7-SW-12001-B Public Release Page 169 of 196


39.13 NAV-TIMEUTC (0x01 0x21)
39.13.1 UTC Time Solution
Message NAV-TIMEUTC
Description UTC Time Solution
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment Note that during a leap second there may be more (or less) than 60 seconds in a
minute; see the description of leap seconds for details.
-
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x01 0x21 20 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
4 U4 - tAcc ns Time accuracy estimate (UTC)
8 I4 - nano ns Fraction of second, range -1e9 .. 1e9 (UTC)
12 U2 - year y Year, range 1999..2099 (UTC)
14 U1 - month month Month, range 1..12 (UTC)
15 U1 - day d Day of month, range 1..31 (UTC)
16 U1 - hour h Hour of day, range 0..23 (UTC)
17 U1 - min min Minute of hour, range 0..59 (UTC)
18 U1 - sec s Seconds of minute, range 0..60 (UTC)
19 X1 - valid - Validity Flags (see graphic below)

Bitfield valid
This Graphic explains the bits of valid

Name Description
validTOW 1 = Valid Time of Week
validWKN 1 = Valid Week Number
validUTC 1 = Valid UTC Time

GPS.G7-SW-12001-B Public Release Page 170 of 196


39.14 NAV-VELECEF (0x01 0x11)
39.14.1 Velocity Solution in ECEF
Message NAV-VELECEF
Description Velocity Solution in ECEF
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment See important comments concerning validity of velocity given in section
Navigation Output Filters.
-
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x01 0x11 20 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
4 I4 - ecefVX cm/s ECEF X velocity
8 I4 - ecefVY cm/s ECEF Y velocity
12 I4 - ecefVZ cm/s ECEF Z velocity
16 U4 - sAcc cm/s Speed accuracy estimate

39.15 NAV-VELNED (0x01 0x12)


39.15.1 Velocity Solution in NED
Message NAV-VELNED
Description Velocity Solution in NED
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment See important comments concerning validity of velocity given in section
Navigation Output Filters.
-
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x01 0x12 36 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
4 I4 - velN cm/s North velocity component
8 I4 - velE cm/s East velocity component
12 I4 - velD cm/s Down velocity component
16 U4 - speed cm/s Speed (3-D)
20 U4 - gSpeed cm/s Ground speed (2-D)
24 I4 1e-5 heading deg Heading of motion 2-D

GPS.G7-SW-12001-B Public Release Page 171 of 196


NAV-VELNED continued
Byte Offset Number Scaling Name Unit Description
Format
28 U4 - sAcc cm/s Speed accuracy Estimate
32 U4 1e-5 cAcc deg Course / Heading accuracy estimate

GPS.G7-SW-12001-B Public Release Page 172 of 196


40 RXM (0x02)
Receiver Manager Messages: i.e. Satellite Status, RTC Status.
Messages in Class RXM output status and result data from the Receiver Manager.
40.1 RXM-ALM (0x02 0x30)
40.1.1 Poll GPS Constellation Almanac Data
Message RXM-ALM
Description Poll GPS Constellation Almanac Data
Firmware Supported on:
• u-blox 7 firmware version 1.00 (only available with raw data product variant)
Type Poll Request
Comment This message has an empty payload!
Poll GPS Constellation Data (Almanac) for all 32 SVs by sending this message to the receiver
without any payload. The receiver will return 32 messages of type RXM-ALM as defined
below.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x02 0x30 0 see below CK_A CK_B
No payload

40.1.2 Poll GPS Constellation Almanac Data for a SV


Message RXM-ALM
Description Poll GPS Constellation Almanac Data for a SV
Firmware Supported on:
• u-blox 7 firmware version 1.00 (only available with raw data product variant)
Type Poll Request
Comment Poll GPS Constellation Data (Almanac) for an SV by sending this message to the receiver.
The receiver will return one message of type RXM-ALM as defined below.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x02 0x30 1 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - svid - SV ID for which the receiver shall return its
Almanac Data (Valid Range: 1 .. 32).

GPS.G7-SW-12001-B Public Release Page 173 of 196


40.1.3 GPS Aiding Almanac Input/Output Message
Message RXM-ALM
Description GPS Aiding Almanac Input/Output Message
Firmware Supported on:
• u-blox 7 firmware version 1.00 (only available with raw data product variant)
Type Poll Answer / Periodic
Comment This message is provided considered obsolete, please use AID-ALM instead!
• If the WEEK Value is 0, DWRD0 to DWRD7 are not sent as the Almanac is not available
for the given SV.
• DWORD0 to DWORD7 contain the 8 words following the Hand-Over Word ( HOW )
from the GPS navigation message, either pages 1 to 24 of sub-frame 5 or pages 2 to 10
of subframe 4. See IS-GPS-200 for a full description of the contents of the Almanac
pages.
• In DWORD0 to DWORD7, the parity bits have been removed, and the 24 bits of data are
located in Bits 0 to 23. Bits 24 to 31 shall be ignored.
• Example: Parameter e (Eccentricity) from Almanac Subframe 4/5, Word 3, Bits 69-84
within the subframe can be found in DWRD0, Bits 15-0 whereas Bit 0 is the LSB.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x02 0x30 (8) or (40) see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - svid - SV ID for which this Almanac Data is (Valid
Range: 1 .. 32 or 51, 56, 63).
4 U4 - week - Issue Date of Almanac (GPS week number)
Start of optional block

8 U4[8] - dwrd - Almanac Words


End of optional block

40.2 RXM-EPH (0x02 0x31)


40.2.1 Poll GPS Constellation Ephemeris Data
Message RXM-EPH
Description Poll GPS Constellation Ephemeris Data
Firmware Supported on:
• u-blox 7 firmware version 1.00 (only available with raw data product variant)
Type Poll Request
Comment This message has an empty payload!
Poll GPS Constellation Data (Ephemeris) for all 32 SVs by sending this message to the
receiver without any payload. The receiver will return 32 messages of type RXM-EPH as
defined below.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x02 0x31 0 see below CK_A CK_B
No payload

GPS.G7-SW-12001-B Public Release Page 174 of 196


40.2.2 Poll GPS Constellation Ephemeris Data for a SV
Message RXM-EPH
Description Poll GPS Constellation Ephemeris Data for a SV
Firmware Supported on:
• u-blox 7 firmware version 1.00 (only available with raw data product variant)
Type Poll Request
Comment Poll GPS Constellation Data (Ephemeris) for an SV by sending this message to the receiver.
The receiver will return one message of type RXM-EPH as defined below.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x02 0x31 1 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - svid - SV ID for which the receiver shall return its
Ephemeris Data (Valid Range: 1 .. 32).

40.2.3 GPS Aiding Ephemeris Input/Output Message


Message RXM-EPH
Description GPS Aiding Ephemeris Input/Output Message
Firmware Supported on:
• u-blox 7 firmware version 1.00 (only available with raw data product variant)
Type Poll Answer / Periodic
Comment This message is provided considered obsolete, please use AID-EPH instead!
• SF1D0 to SF3D7 is only sent if ephemeris is available for this SV. If not, the payload may
be reduced to 8 Bytes, or all bytes are set to zero, indicating that this SV Number does
not have valid ephemeris for the moment.
• SF1D0 to SF3D7 contain the 24 words following the Hand-Over Word ( HOW ) from the
GPS navigation message, subframes 1 to 3. See IS-GPS-200 for a full description of the
contents of the Subframes.
• In SF1D0 to SF3D7, the parity bits have been removed, and the 24 bits of data are
located in Bits 0 to 23. Bits 24 to 31 shall be ignored.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x02 0x31 (8) or (104) see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - svid - SV ID for which this ephemeris data is (Valid
Range: 1 .. 32).
4 U4 - how - Hand-Over Word of first Subframe. This is
required if data is sent to the receiver.
0 indicates that no Ephemeris Data is following.
Start of optional block

8 U4[8] - sf1d - Subframe 1 Words 3..10 (SF1D0..SF1D7)


40 U4[8] - sf2d - Subframe 2 Words 3..10 (SF2D0..SF2D7)
72 U4[8] - sf3d - Subframe 3 Words 3..10 (SF3D0..SF3D7)
End of optional block

GPS.G7-SW-12001-B Public Release Page 175 of 196


40.3 RXM-PMREQ (0x02 0x41)
40.3.1 Requests a Power Management task
Message RXM-PMREQ
Description Requests a Power Management task
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Command
Comment Request of a Power Management related task of the receiver.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x02 0x41 8 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - duration ms Duration of the requested task, set to zero for
infinite duration
4 X4 - flags - task flags (see graphic below)

Bitfield flags
This Graphic explains the bits of flags

Name Description
backup The receiver goes into backup mode for a time period defined by duration

40.4 RXM-RAW (0x02 0x10)


40.4.1 Raw Measurement Data
Message RXM-RAW
Description Raw Measurement Data
Firmware Supported on:
• u-blox 7 firmware version 1.00 (only available with raw data product variant)
Type Periodic/Polled
Comment This message contains all information needed to be able to generate a RINEX observation
file.
This message outputs pseudorange, doppler and carrier phase measurements for GPS
satellites once signals have been synchronised. No other GNSS types are currently
supported.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x02 0x10 8 + 24*numSV see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format

GPS.G7-SW-12001-B Public Release Page 176 of 196


RXM-RAW continued
Byte Offset Number Scaling Name Unit Description
Format
0 I4 - rcvTow ms Measurement time of week in receiver local
time
4 I2 - week weeks Measurement week number in receiver local
time
6 U1 - numSV - Number of satellites following
7 U1 - reserved1 - Reserved
Start of repeated block (numSV times)

8 + 24*N R8 - cpMes cycles Carrier phase measurement [L1 cycles]


16 + 24*N R8 - prMes m Pseudorange measurement [m]
24 + 24*N R4 - doMes Hz Doppler measurement (positive sign for
approaching satellites) [Hz]
28 + 24*N U1 - sv - Space Vehicle number
29 + 24*N I1 - mesQI - Nav Measurements Quality Indicator:
>=4 : PR+DO OK
>=5 : PR+DO+CP OK
<6 : likely loss of carrier lock in previous interval
30 + 24*N I1 - cno dBHz Signal strength C/No
31 + 24*N U1 - lli - Loss of lock indicator (RINEX definition)
End of repeated block

40.5 RXM-SFRB (0x02 0x11)


40.5.1 Subframe Buffer
Message RXM-SFRB
Description Subframe Buffer
Firmware Supported on:
• u-blox 7 firmware version 1.00 (only available with raw data product variant)
Type Periodic
Comment The content of one single subframe buffer
For GPS satellites, the 10 dwrd values contain the parity checked subframe data for 10
Words. Each dwrd has 24 Bits with valid data (Bits 23 to 0). The remaining 8 bits (31 to 24)
have an undefined value. The direction within the Word is that the higher order bits are
received from the SV first. Example: The Preamble can be found in dwrd[0], at bit position
23 down to 16. For more details on the data format please refer to the ICD-GPS-200C
Interface document.
For SBAS satellites, the 250 Bit message block can be found in dwrd[0] to dwrd[6] for the
first 224 bits. The remaining 26 bits are in dwrd[7], whereas Bits 25 and 24 are the last two
data bits, and Bits 23 down to 0 are the parity bits. For more information on SBAS data
format, please refer to RTCA/DO-229C (MOPS), Appendix A.
No other GNSS types are currently supported.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x02 0x11 42 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format

GPS.G7-SW-12001-B Public Release Page 177 of 196


RXM-SFRB continued
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - chn - Channel Number
1 U1 - svid - ID of Satellite transmitting Subframe
2 X4[10] - dwrd - Words of Data

40.6 RXM-SVSI (0x02 0x20)


40.6.1 SV Status Info
Message RXM-SVSI
Description SV Status Info
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment Status of the receiver manager knowledge about GPS Orbit Validity
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x02 0x20 8 + 6*numSV see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - iTOW ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
4 I2 - week weeks GPS week number of the navigation epoch
6 U1 - numVis - Number of visible satellites
7 U1 - numSV - Number of per-SV data blocks following
Start of repeated block (numSV times)

8 + 6*N U1 - svid - Satellite ID


9 + 6*N X1 - svFlag - Information Flags (see graphic below)
10 + 6*N I2 - azim - Azimuth
12 + 6*N I1 - elev - Elevation
13 + 6*N X1 - age - Age of Almanac and Ephemeris: (see graphic
below)
End of repeated block

Bitfield svFlag
This Graphic explains the bits of svFlag

Name Description
ura Figure of Merit (URA) range 0..15
healthy SV healthy flag
ephVal Ephemeris valid

GPS.G7-SW-12001-B Public Release Page 178 of 196


Bitfield svFlag Description continued
Name Description
almVal Almanac valid
notAvail SV not available

Bitfield age
This Graphic explains the bits of age

Name Description
almAge Age of ALM in days offset by 4
i.e. the reference time may be in the future:
ageOfAlm = (age & 0x0f) - 4
ephAge Age of EPH in hours offset by 4.
i.e. the reference time may be in the future:
ageOfEph = ((age & 0xf0) >> 4) - 4

GPS.G7-SW-12001-B Public Release Page 179 of 196


41 TIM (0x0D)
Timing Messages: i.e. Time Pulse Output, Timemark Results.
Messages in this class are output by the receiver, giving information on Timepulse and Timemark
measurements.
41.1 TIM-TM2 (0x0D 0x03)
41.1.1 Time mark data
Message TIM-TM2
Description Time mark data
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment This message contains information for high precision time stamping / pulse counting.
The delay figures and timebase given in CFG-TP5 are also applied to the time results
output in this message.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0D 0x03 28 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U1 - ch time marker channel 0 or 1
1 X1 - flags - Bitmask (see graphic below)
2 U2 - count - rising edge counter.
4 U2 - wnR - week number of last rising edge
6 U2 - wnF - week number of last falling edge
8 U4 - towMsR ms tow of rising edge
12 U4 - towSubMsR ns millisecond fraction of tow of rising edge in
nanoseconds
16 U4 - towMsF ms tow of falling edge
20 U4 - towSubMsF ns millisecond fraction of tow of falling edge in
nanoseconds
24 U4 - accEst ns Accuracy estimate

Bitfield flags
This Graphic explains the bits of flags

Name Description
mode 0=single
1=running

GPS.G7-SW-12001-B Public Release Page 180 of 196


Bitfield flags Description continued
Name Description
run 0=armed
1=stopped
newFallingEdg new falling edge detected
e
timeBase 0=Time base is Receiver Time
1=Time base is GPS
2=Time base is UTC
utc 0=UTC not available
1=UTC available
time 0=Time is not valid
1=Time is valid (Valid GPS fix)
newRisingEdge new rising edge detected

41.2 TIM-TP (0x0D 0x01)


41.2.1 Time Pulse Timedata
Message TIM-TP
Description Time Pulse Timedata
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Periodic/Polled
Comment This message contains information for high precision timing. The recommended
configuration when using this message is to set both the measurement rate (CFG-RATE)
and the timepulse frequency (CFG-TP5) to 1Hz. For more information see section Time
pulse.
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0D 0x01 16 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 U4 - towMS ms Time pulse time of week according to time base
4 U4 2^-32 towSubMS ms Submillisecond part of TOWMS
8 I4 - qErr ps Quantization error of time pulse.
12 U2 - week weeks Time pulse week number according to time
base
14 X1 - flags - bitmask (see graphic below)
15 U1 - reserved1 - Reserved

GPS.G7-SW-12001-B Public Release Page 181 of 196


Bitfield flags
This Graphic explains the bits of flags

Name Description
timeBase 0=Time base is GPS
1=Time base is UTC
utc 0=UTC not available
1=UTC available

41.3 TIM-VRFY (0x0D 0x06)


41.3.1 Sourced Time Verification
Message TIM-VRFY
Description Sourced Time Verification
Firmware Supported on:
• u-blox 7 firmware version 1.00
Type Polled/Once
Comment This message contains verification information about previous time received via AID-INI or
from RTC
Header ID Length (Bytes) Payload Checksum
Message Structure 0xB5 0x62 0x0D 0x06 20 see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name Unit Description
Format
0 I4 - itow ms integer millisecond tow received by source
4 I4 - frac ns sub-millisecond part of tow
8 I4 - deltaMs ms integer milliseconds of delta time (current time
minus sourced time)
12 I4 - deltaNs ns sub-millisecond part of delta time
16 U2 - wno week week number
18 X1 - flags - information flags (see graphic below)
19 U1 - reserved1 - Reserved

Bitfield flags
This Graphic explains the bits of flags

Name Description

GPS.G7-SW-12001-B Public Release Page 182 of 196


Bitfield flags Description continued
Name Description
src aiding time source
0: no time aiding done
2: source was RTC
3: source was AID-INI

GPS.G7-SW-12001-B Public Release Page 183 of 196


RTCM Protocol
42 Introduction
The RTCM (Radio Technical Commission for Maritime Services) protocol is a unidirectional protocol (input to the
receiver) that is used to supply the GPS receiver with real-time differential correction data (DGPS). The RTCM
protocol specification is available from http://www.rtcm.org.

This feature is only applicable to GPS operation.

43 Supported Messages
The following RTCM 2.3 messages are supported:
Supported RTCM 2.3 Message Types
Message Type Description
1 Differential GPS Corrections
2 Delta Differential GPS Corrections
3 GPS Reference Station Parameters
9 GPS Partial Correction Set

44 Configuration
The DGPS feature does not need any configuration to work properly. When an RTCM stream is input on any of
the communication interfaces, the data will be parsed and applied if possible, which will put the receiver into
DGPS mode. However, the RTCM protocol must be enabled on the interface used by means of the
UBX-CFG-PRT message.
The only configurable parameter of DGPS mode is the timeout that can be specified using UBX-CFG-NAV5.
This value defines the time after which old RTCM data will be discarded.

45 Output
DGPS mode will result in following modified output:
• NMEA-GGA: The quality field will be 2 (see NMEA Positon Fix Flags). The age of DGPS corrections and
Reference station id will be set.
• NMEA-GLL, NMEA-RMC, NMEA-VTG, NMEA-GNS: The posMode indicator will be D (see NMEA Positon
Fix Flags).
• NMEA-PUBX-POSITION: The status will be D2/D3; The age of DGPS corrections will be set.
• UBX-NAV-SOL: The DGPS will be set.
• UBX-NAV-PVT: The DGPS will be set.
• UBX-NAV-STATUS: The DGPS will be set; The DGPS input will be set to "PR+PRR".
• UBX-NAV-SVINFO: The DGPS flag will be set for channels with valid DGPS correction data.
• UBX-NAV-DGPS: This message will contain all valid DGPS data
• If the base line exceeds 100km and a message type 3 is received, a UBX-INF-WARNING will be output, e.g.
"WARNING: DGPS baseline big: 330.3km"

GPS.G7-SW-12001-B Public Release Page 184 of 196


46 Restrictions
The following restrictions apply to DGPS mode:
• The DGPS solution will only include measurements from satellites for which DGPS corrections were provided.
This is because the navigation algorithms cannot mix corrected with uncorrected measurements.
• SBAS corrections will not be applied when using RTCM correction data.
• Precise Point Positioning will be deactivated when using RTCM correction data.
• RTCM correction data cannot be applied when using AssistNow Offline or AssistNow Autonomous.

47 Reference
The RTCM support is implemented according to RTCM 10402.3 ("RECOMMENDED STANDARDS FOR
DIFFERENTIAL GNSS").

GPS.G7-SW-12001-B Public Release Page 185 of 196


Appendix
A Protocol Versions
The Protocol Version defines a set of messages that are applicable across various u-blox products. Each
firmware used by a u-blox receiver supports a specific Protocol Version, which is not configurable.
Each receiver reports its supported Protocol Version in the following ways:
• On start-up in the 'boot screen'
• In the UBX-MON-VER message
The following tables show the supported Protocol Versions for a number of common firmware versions and
platforms.

A.1 Supported Protocol Versions


u-blox 5
Firmware Version Supported Protocol Version
4.00 10.00
4.01 10.01
5.00 11.00
6.00 12.00
6.02 12.02

u-blox 6
Firmware Version Supported Protocol Version
6.00 12.00
6.02 12.02
7.01 13.01
7.03 13.03

u-blox 6 GPS/GLONASS/QZSS
Firmware Version Supported Protocol Version
1.00 14.00

u-blox 7
Firmware Version Supported Protocol Version
1.00 14.00

B u-blox 7 Default Settings


The default settings listed in this section apply from u-blox 7 ROM-based receivers with ROM version 1.00 and
above. These values assume that the default levels of the configuration pins have been left unchanged and no
setting that affects the default configuration was written to the eFuse. Default settings are dependent on the
configuration pin and eFuse settings, for information regarding these settings, consult the applicable Data
Sheet.

GPS.G7-SW-12001-B Public Release Page 186 of 196


B.1 Antenna Supervisor Settings (UBX-CFG-ANT)
For parameter and protocol description see section UBX-CFG-ANT.
Antenna Settings
Parameter Description Default Setting Unit
flags-svcs Enable Control Signal Enabled
flags-scd Enable Short Circuit Detection Enabled
flags-pdwnOnSCD Enable Short Circuit Power Down logic Enabled
flags-recovery Enable Automatic Short Circuit Recovery logic Enabled
flags-ocd Enable Open Circuit Detection Disabled
pins-pinSwitch PIO-Pin used for switching antenna supply 16
pins-pinSCD PIO-Pin used for detecting a short in the antenna 15
supply
pins-pinOCD PIO-Pin used for detecting open/not connected 14
antenna

B.2 Datum Settings (UBX-CFG-DAT)


For parameter and protocol description see section UBX-CFG-DAT.
Datum Default Settings
Parameter Description Default Setting Unit
datumNum Datum number 0
datumName Datum name WGS84
majA Semi-major Axis 6378137 m
flat 1.0 / Flattening 298.257223563
dX X Axis shift at the origin 0 m
dY Y Axis shift at the origin 0 m
dZ Z Axis shift at the origin 0 m
rotX Rotation about the X Axis 0 s
rotY Rotation about the Y Axis 0 s
rotZ Rotation about the Z Axis 0 s
scale Scale change 0 ppm

B.3 Navigation Settings (UBX-CFG-NAV5)


For parameter and protocol description see section UBX-CFG-NAV5.
Navigation Default Settings
Parameter Description Default Setting Unit
dynModel Dynamic Platform Model 0 - Portable
fixMode Fix Mode 3 - Auto 2D/3D
fixedAlt Fixed Altitude N/A (fixMode=3) m
fixedAltVar Fixed Altitude Variance N/A (fixMode=3) m^2
minElev Min SV Elevation 5 deg
pDop PDOP Mask 25 -
tDop TDOP Mask 25 -
pAcc P Accuracy 100 m
tAcc T Accuracy 300 m
staticHoldThresh Static Hold Threshold 0.00 cm/s

GPS.G7-SW-12001-B Public Release Page 187 of 196


Navigation Default Settings continued
Parameter Description Default Setting Unit
dgpsTimeOut DGPS timeout 60 s
cnoThreshNumSVs Number of SVs required to have C/N0 above 0
cnoThresh for a valid fix
cnoThresh C/N0 threshold for a valid fix 0 dBHz

The Dynamic Platform Model default setting is different for certain product variants.

B.4 Navigation Settings (UBX-CFG-NAVX5)


For parameter and protocol description see section UBX-CFG-NAVX5.
Navigation Default Settings
Parameter Description Default Setting Unit
minSVs Minimum number of SV 3
maxSVs Maximum number of SV 22
minCNO Minimum C/N0 for navigation 7 dBHz
iniFix3D Initial Fix must be 3D Disabled
aopCfg-useAOP Use AssistNow Autonomous Disabled
aopOrbMaxErr AssistNow Autonomous max. acceptable orbit error 100 m
wknRollover Weeknumber rollover 1691

The minimun number of SV default setting is different for certain product variants.

B.5 Output Rates (UBX-CFG-RATE)


For parameter and protocol description see section UBX-CFG-RATE.
Output Rate Default Settings
Parameter Description Default Setting Unit
timeRef Time Source 1 – GPS time
measRate Measurement Period 1000 ms
navRate Measurement Rate 1 Cycl
es

B.6 Power Management 2 Configuration (UBX-CFG-PM2)


For parameter and protocol description see section UBX-CFG-PM2.
Power Management 2 Configuration Default Settings
Parameter Description Default Setting Unit
version Version 1
flags-extintSelect EXTINT pin selection EXTINT0
flags-extintWake EXTINT pin control - keep awake Disabled
flags-extintBackup EXTINT pin control - force backup Disabled
flags-limitPeakCurr Limit peak current Disabled
flags-WaitTimeFix Wait for time fix Disabled
flags-updateRTC Update Real Time Clock Disabled
flags-updateEPH Update ephemeris Enabled
flags-doNotEnterOff Do not enter 'inactive for search' state when no fix Disabled
GPS.G7-SW-12001-B Public Release Page 188 of 196
Power Management 2 Configuration Default Settings continued
Parameter Description Default Setting Unit
flags-mode Mode of operation Cyclic tracking
updatePeriod Update period 1000 ms
searchPeriod Search period 10000 ms
gridOffset Grid offset 0 ms
onTime On time 0 s
minAcqTime Minimum acquisition time 0 s

B.7 Receiver Manager Configuration (UBX-CFG-RXM)


For parameter and protocol description see section UBX-CFG-RXM.
Power Management Default Settings
Parameter Description Default Setting Unit
lpMode Low power mode 0 - Continuous
Mode

B.8 GNSS system configuration (UBX-CFG-GNSS)


For parameter and protocol description see section UBX-CFG-GNSS.
UBX-CFG-GNSS Default Settings
Parameter Description Default Setting Unit
numTrkChHw Number of available tracking channels 22
numTrkChUse Number of tracking channels to use 22
numConfigBlocks Number of configuration blocks following 4
gnssId GNSS identifier (see Satellite Numbering) 0, 1, 5, 6
flags-enable Enable this GNSS system 1, 1, 1, 0
resTrkCh Minimum number of tracking channels per GNSS 4, 1, 0, 8
maxTrkCh Maximum number of tracking channels per GNSS 255, 3, 3, 255

B.9 SBAS Configuration (UBX-CFG-SBAS)


For parameter and protocol description see section UBX-CFG-SBAS.
SBAS Configuration Default Settings
Parameter Description Default Setting Unit
mode-enabled SBAS Subsystem Enabled
mode-test Allow test mode usage Disabled
usage-range Ranging (Use SBAS for navigation) Enabled
usage-diffCorr Apply SBAS Correction Data Enabled
usage-integrity Apply integrity information Disabled
scanmode1 PRN Codes 120-151 120, 124, 126,
127, 129, 133,
135, 137, 138
scanmode2 PRN Codes 152-158 None

GPS.G7-SW-12001-B Public Release Page 189 of 196


B.10 Port Configuration (UBX-CFG-PRT)
For parameter and protocol description see section UBX-CFG-PRT.

B.10.1 UART Port Configuration


For parameter and protocol description see section UBX-CFG-PRT-UART.
UART 1 Default Settings
Parameter Description Default Setting Unit
portID Port ID 1 (UART 1)
txReady-en TX-ready feature 0 (disabled)
mode-charLen Character Length 3 (8 bit)
mode-parity Parity 4 (No parity)
mode-nStopBits Number of Stop Bits 0 (1 stop bit)
baudRate Baud rate 9600 baud
inProtoMask Protocol in UBX, NMEA,
RTCM
outProtoMask Protocol out UBX, NMEA
flags-extendedTxTimeout Extended TX timeout 0 - disabled

B.10.2 USB Port Configuration


For parameter and protocol description see section UBX-CFG-PRT-USB.
USB Default Settings
Parameter Description Default Setting Unit
portID Port ID 3 (USB)
txReady-en TX-ready feature 0 (disabled)
inProtoMask Protocol in UBX, NMEA,
RTCM
outProtoMask Protocol out UBX, NMEA

B.10.3 SPI Port Configuration


For parameter and protocol description see section UBX-CFG-PRT-SPI.
SPI Default Settings
Parameter Description Default Setting Unit
portID Port ID 4 (SPI)
txReady-en TX-ready feature 0 (disabled)
mode-spiMode SPI mode 0 (CPOL=0,
CPHA=0)
mode-ffCnt 0xFF count 50
inProtoMask Protocol in UBX, NMEA,
RTCM
outProtoMask Protocol out UBX, NMEA
flags-extendedTxTimeout Extended TX timeout 0 - disabled

GPS.G7-SW-12001-B Public Release Page 190 of 196


B.10.4 DDC Port Configuration
For parameter and protocol description see section UBX-CFG-PRT-DDC.
DDC Default Settings
Parameter Description Default Setting Unit
portID Port ID 0 (DDC)
txReady-en TX-ready feature 0 (disabled)
mode-slaveAddr Slave address 0x42
inProtoMask Protocol in UBX, NMEA,
RTCM
outProtoMask Protocol out UBX, NMEA
flags-extendedTxTimeout Extended TX timeout 0 - disabled

B.11 USB Settings (UBX-CFG-USB)


For parameter and protocol description see section UBX-CFG-USB.
USB default settings
Parameter Description Default Setting Unit
vendorID Vendor ID 0x1546
productID Product ID 0x01A7
powerConsumption Bus Current required 100 mA
flags-powerMode Power Mode 1 (self-powered)
vendorString String containing the vendor name u-blox AG - www.
u-blox.com
productString String containing the product name u-blox 7 -
GPS/GNSS
Receiver

B.12 Message Settings (UBX-CFG-MSG)


For parameter and protocol description see section UBX-CFG-MSG.
Enabled output messages
Message Type All Ports
NMEA-Standard-GGA Out 1
NMEA-Standard-GLL Out 1
NMEA-Standard-GSA Out 1
NMEA-Standard-GSV Out 1
NMEA-Standard-RMC Out 1
NMEA-Standard-VTG Out 1

B.13 NMEA Protocol Settings (UBX-CFG-NMEA)


For parameter and protocol description see section UBX-CFG-NMEA.
NMEA Protocol Default Settings
Parameter Description Default Setting Unit
filter-posFilt Enable position output even for failed or invalid Disabled
fixes
filter-mskPosFilt Enable position even for invalid fixes Disabled
filter-timeFilt Enable time output even for invalid times Disabled
GPS.G7-SW-12001-B Public Release Page 191 of 196
NMEA Protocol Default Settings continued
Parameter Description Default Setting Unit
filter-dateFilt Enable time output even for invalid dates Disabled
filter-gpsOnlyFilter Restrict output to GPS satellites only Disabled
filter-trackFilt Enable COG output even if COG is frozen Disabled
nmeaVersion NMEA version 2.3
numSV Number of SVs to report Unlimited
flags-compat Compatibility Mode Disabled
flags-consider Consideration Mode Enabled
gnssToFilter-gps Disable GPS satellites False
gnssToFilter-sbas Disable SBAS satellites False
gnssToFilter-qzss Disable QZSS satellites False
gnssToFilter-glonass Disable GLONASS satellites False
svNumbering Output of SV's with no NMEA defined value 0 (not output)
mainTalkerId Override main Talker ID 0 (not overridden)
gsvTalkerId Override GSV Talker ID 0 (not overridden)

B.14 Logging Configuration (UBX-CFG-LOGFILTER)


For parameter and protocol description see section UBX-CFG-LOGFILTER.
UBX-CFG-LOGFILTER Default Settings
Parameter Description Default Setting Unit
flags-recordEnabled Recording enabled 0
flags-applyAllFilterSettings Apply all filter settings 0
flags-psmOncePerWakupEnable Recording of single position per PSM wake up 0
d enabled
minInterval Minimum time interval 0 s
timeThreshold Time threshold 0 s
speedThreshold Speed threshold 0 m/s
positionThreshold Position threshold 0 m

B.15 Remote Inventory (UBX-CFG-RINV)


For parameter and protocol description see section UBX-CFG-RINV.
UBX-CFG-RINV Default Settings
Parameter Description Default Setting Unit
flags-dump Dump data at startup 0
flags-binary Data is binary 0
data Data stored in Remote Inventory Notice: no data
saved!

B.16 INF Messages Settings (UBX-CFG-INF)


For parameter and protocol description see section UBX-CFG-INF.
INF messages default settings
Parameter Type All Ports Range/Remark
infMsgMask-ERROR Out 1 In NMEA Protocol only (GPTXT)
infMsgMask-WARNING Out 1 In NMEA Protocol only (GPTXT)

GPS.G7-SW-12001-B Public Release Page 192 of 196


INF messages default settings continued
Parameter Type All Ports Range/Remark
infMsgMask-NOTICE Out 1 In NMEA Protocol only (GPTXT)
infMsgMask-TEST Out
infMsgMask-DEBUG Out

B.17 Timepulse Settings (UBX-CFG-TP5)


For parameter and protocol description see section UBX-CFG-TP5.
TIMEPULSE default settings
Parameter Description Default Setting Unit
tpIdx Time pulse selection 0 ns
antCableDelay Cable Delay 50 ns
rfGroupDelay RF Groupdelay 0 ns
freqPeriod Period 1000000 us
freqPeriodLock Period Locked 1000000 us
pulseLenRatio Pulse Length 0 us
pulseLenRatioLock Pulse Length Locked 100000 us
userConfigDelay User Delay 0 ns
flags-gridUtcGps Timegrid 1 (GPS Time)
flags-polarity Polarity 1 (rising edge at
top of second)
flags-alignToTow Align to TOW 1
flags-isLength IsLength 1
flags-isFreq IsFreq 0
flags-lockedOtherSet Locked other setting 1
flags-LockGpsFreq Lock to GPS freq 1
flags-Active Active 1

TIMEPULSE2 default settings


Parameter Description Default Setting Unit
tpIdx Time pulse selection 1 ns
antCableDelay Cable Delay 50 ns
rfGroupDelay RF Groupdelay 0 ns
freqPeriod Frequency 4 Hz
freqPeriodLock Frequency Locked 1 Hz
pulseLenRatio Pulse Length 125000 us
pulseLenRatioLock Pulse Length Locked 100000 us
userConfigDelay User Delay 0 ns
flags-gridUtcGps Timegrid 1 (GPS Time)
flags-polarity Polarity 1 (rising edge at
top of second)
flags-alignToTow Align to TOW 1
flags-isLength IsLength 1
flags-isFreq IsFreq 1
flags-lockedOtherSet Locked other setting 1
flags-LockGpsFreq Lock to GPS freq 1
flags-Active Active 0

GPS.G7-SW-12001-B Public Release Page 193 of 196


B.18 Jammer/Interference Monitor (UBX-CFG-ITFM)
For parameter and protocol description see section UBX-CFG-ITFM.
Jamming/Interference monitor default settings
Parameter Description Default Setting Unit
config-enable Enable Disabled
config-bbThreshold Broadband interference detection threshold 3 dB
config-cwThreshold CW interference detection threshold 15 dB
config-antSetting Antenna setting 0

C u-blox 7 Standard firmware versions


Standard FW version strings
Generation Version String ROM BASE
u-blox 7 ROM CORE 1.00 (59842) Jun 27 2012 17:43:52 -
u-blox 7 FW 1.00 EXT CORE 1.00 (59843) Jun 27 2012 18:25:33 u-blox 7 ROM 1.00

GPS.G7-SW-12001-B Public Release Page 194 of 196


Related Documents
Overview
As part of our commitment to customer support, u-blox maintains an extensive volume of technical
documentation for our products. In addition to product-specific data sheets and integration manuals, general
documents are also available. These include:
• GPS Compendium, Docu. No GPS-X-02007
• GPS Antennas - RF Design Considerations for u-blox GPS Receivers, Docu. No GPS-X-08014
Our website www.u-blox.com is a valuable resource for general and product specific documentation.
For design and integration projects the Receiver Description Including Protocol Specification should be used
together with the Data Sheet and Hardware Integration Manual of the GPS receiver.

GPS.G7-SW-12001-B Public Release Page 195 of 196


Contact
For complete contact information visit us at www.u-blox.com

u-blox Offices
North, Central and South America Headquarters Asia, Australia, Pacific
Europe, Middle East, Africa
u-blox America, Inc. u-blox Singapore Pte. Ltd.
Phone: +1 703 483 3180 u-blox AG Phone: +65 6734 3811
E-mail: info_us@u-blox.com Phone: +41 44 722 74 44 E-mail: info_ap@u-blox.com
E-mail: info@u-blox.com Support: support_ap@u-blox.com
Regional Office West Coast: Support: support@u-blox.com
Phone: +1 408 573 3640 Regional Office China (Beijing):
E-mail: info_us@u-blox.com Phone: +86 10 68 133 545
E-mail: info_cn@u-blox.com
Technical Support: Support: support_cn@u-blox.com
Phone: +1 703 483 3185
E-mail: support_us@u-blox.com Regional Office China (Shenzhen):
Phone: +86 755 8627 1083
E-mail: info_cn@u-blox.com
Support: support_cn@u-blox.com

Regional Office India:


Phone: +91 959 1302 450
E-mail: info_in@u-blox.com
Support: support_in@u-blox.com

Regional Office Japan:


Phone: +81 3 5775 3850
E-mail: info_jp@u-blox.com
Support: support_jp@u-blox.com

Regional Office Korea:


Phone: +82 2 542 0861
E-mail: info_kr@u-blox.com
Support: support_kr@u-blox.com

Regional Office Taiwan:


Phone: +886 2 2657 1090
E-mail: info_tw@u-blox.com
Support: support_tw@u-blox.com

GPS.G7-SW-12001-B Public Release Page 196 of 196